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Stockholders' Equity - Options Outstanding Separated Into Range of Exercise Price (Details) - $ / shares
3 Months Ended 12 Months Ended
Mar. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Options outstanding (in shares) 954,759 1,022,763
Options outstanding, weighted average remaining contractual life (Year) 3 years 5 months 12 days 3 years 5 months 12 days
Weighted average exercise price of options outstanding (in dollars per share) $ 7.008 $ 6.862
Options exercisable (in shares) 929,880  
Options exercisable, weighted average remaining contractual life (years) 3 years 3 months 21 days  
Weighted average exercise price of options exercisable (in dollars per share) $ 7.043  
Range One    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Weighted average exercise price (in dollars per share) $ 2.933  
Options outstanding, exercise price range (in shares) 22,068  
Options outstanding, weighted average remaining contractual life, exercise price range (Year) 10 months 28 days  
Options exercisable, exercise price range (in shares) 22,068  
Options exercisable, weighted average remaining contractual life, exercise price range (years) 10 months 28 days  
Weighted average exercise price of options exercisable, exercise price range (in dollars per share) $ 2.933  
Range Two    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Lower range of exercise price (in dollars per share) 4.157  
Weighted average exercise price (in dollars per share) 4.977  
Upper range of exercise price (in dollars per share) $ 5.682  
Options outstanding, exercise price range (in shares) 261,174  
Options outstanding, weighted average remaining contractual life, exercise price range (Year) 3 years 9 months 18 days  
Options exercisable, exercise price range (in shares) 236,295  
Options exercisable, weighted average remaining contractual life, exercise price range (years) 3 years 3 months 7 days  
Weighted average exercise price of options exercisable, exercise price range (in dollars per share) $ 4.889  
Range Three    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Lower range of exercise price (in dollars per share) 6.503  
Weighted average exercise price (in dollars per share) 7.147  
Upper range of exercise price (in dollars per share) $ 8.077  
Options outstanding, exercise price range (in shares) 504,651  
Options outstanding, weighted average remaining contractual life, exercise price range (Year) 3 years 3 months 14 days  
Options exercisable, exercise price range (in shares) 504,651  
Options exercisable, weighted average remaining contractual life, exercise price range (years) 3 years 3 months 14 days  
Weighted average exercise price of options exercisable, exercise price range (in dollars per share) $ 7.147  
Range Four    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Weighted average exercise price (in dollars per share) $ 9.960  
Options outstanding, exercise price range (in shares) 139,644  
Options outstanding, weighted average remaining contractual life, exercise price range (Year) 3 years 10 months 24 days  
Options exercisable, exercise price range (in shares) 139,644  
Options exercisable, weighted average remaining contractual life, exercise price range (years) 3 years 10 months 24 days  
Weighted average exercise price of options exercisable, exercise price range (in dollars per share) $ 9.960  
Range Five    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Weighted average exercise price (in dollars per share) $ 13.287  
Options outstanding, exercise price range (in shares) 27,222  
Options outstanding, weighted average remaining contractual life, exercise price range (Year) 2 years 11 months 19 days  
Options exercisable, exercise price range (in shares) 27,222  
Options exercisable, weighted average remaining contractual life, exercise price range (years) 2 years 11 months 19 days  
Weighted average exercise price of options exercisable, exercise price range (in dollars per share) $ 13.287