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Stockholders' Equity (Details) - USD ($)
shares in Thousands, $ in Millions
Jan. 12, 2021
Dec. 31, 2020
Dec. 31, 2019
Stockholders' Equity      
Number of common stock authorized   75,000 75,000
Number of common stock outstanding   33,633 32,585
Subsequent event      
Stockholders' Equity      
Share repurchase program expiration period 1 year    
Number of shares authorized to repurchase 0    
Maximum | Subsequent event      
Stockholders' Equity      
Share repurchase program common stock authorized amount $ 100