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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares authorized (in shares) 5,082,955     5,082,955  
Expiration period (in years)       10 years  
Shares reserved for future award (in shares) 97,961     97,961  
Share-based compensation expense $ 2.9 $ 1.8   $ 8.9 $ 5.8
Stock options and RSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Stock options and RSUs outstanding (in shares) 3,628,250     3,628,250  
Executive Officer          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation expense         $ 0.6
Common stock issued     $ 0.4    
Employees, Directors and Consultants          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized compensation costs $ 21.5     $ 21.5  
Unrecognized compensation costs, recognition period (in years)       1 year 10 months 2 days  
Employees | Restricted Stock Units (RSUs)          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized compensation costs $ 4.3     $ 4.3  
Unrecognized compensation costs, recognition period (in years)       3 years 11 months 15 days  
Minimum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period (in years)       1 year  
Minimum | Restricted Stock Units (RSUs)          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period (in years)       4 years  
Maximum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period (in years)       4 years  
Maximum | Restricted Stock Units (RSUs)          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period (in years)       5 years