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Consolidated Statements of Stockholders' Equity (Parenthetical) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Net of offering costs     $ 3.2
At The Market Offering [Member]      
Net of offering costs $ 0.4    
Series A Convertible Preferred Stock [Member]      
Net of offering costs   $ 4.0