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Common Stock (Details)
$ / shares in Units, $ in Thousands
12 Months Ended
Nov. 03, 2020
USD ($)
shares
Oct. 05, 2020
USD ($)
trading_day
$ / shares
shares
Dec. 31, 2020
USD ($)
shares
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Subsequent Event [Line Items]          
Issuance of common stock upon the exercise of stock options (in shares)     47,000    
Proceeds from exercise of stock options | $     $ 675 $ 1,433 $ 860
Public Offering          
Subsequent Event [Line Items]          
Number of shares issued in transaction (in shares)   3,350,000      
Sale of stock (in dollars per share) | $ / shares   $ 38.00      
Sale of stock, consideration received on transaction | $   $ 121,800      
Over-Allotment Option          
Subsequent Event [Line Items]          
Number of shares issued in transaction (in shares)   502,500      
Sale of stock (in dollars per share) | $ / shares   $ 38.00      
Number of days available to purchase additional shares | trading_day   30      
Issuance of common stock upon the exercise of stock options (in shares) 266,022        
Proceeds from exercise of stock options | $ $ 9,600