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Income Taxes - Reconciliation of Effective Tax Rate (Details)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Income Tax Disclosure [Abstract]    
U.S. federal statutory tax rate 21.00% 21.00%
State income taxes, net of federal benefit (0.10%) (0.10%)
Non-U.S. income taxed at different rates 0.60% 0.10%
Increase (reduction) in tax benefit related to stock-based awards 0.10% (0.20%)
Non-deductible expenses 0.00% (0.10%)
Research and development credit 0.00% 0.10%
Increase in valuation allowance (21.70%) (15.00%)
Effect of tax rate differences of NOL carryback 0.00% 3.00%
Effective income tax rate (0.10%) 8.80%