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Stockholders' Equity - Summary of Stock Options Outstanding and Exercisable (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
$4.34 - $4.97        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Price, lower limit (in dollars per share) $ 28.58      
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of options outstanding (in shares) 6,366 6,431 6,458 804
Weighted average exercise price (in dollars per share) $ 28.58 $ 28.34 $ 28.24 $ 4.99
Number of options, Options exercisable, end of period (in shares) 530 65 92  
Weighted average exercise price, Options exercisable, end of period (in dollars per share) $ 28.58 $ 4.52 $ 4.45  
Stock Options | $4.34 - $4.97        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of options outstanding (in shares) 530      
Weighted average exercise price (in dollars per share) $ 28.58      
Weighted average remaining contractual life, Options outstanding, end of period 7 years 1 month 24 days      
Number of options, Options exercisable, end of period (in shares) 530      
Weighted average exercise price, Options exercisable, end of period (in dollars per share) $ 28.58      
Weighted average remaining contractual life, Options exercisable, end of period 7 years 1 month 24 days