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Stockholders' Equity - Schedule of Pre-2017 Non-Qualified Stock Options Outstanding (Details) - Pre-2017 non-qualified stock options
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Number of Shares    
Outstanding at beginning of period (in shares) | shares 2,465,500  
Exercised (in shares) | shares (71,592)  
Forfeited (in shares) | shares (23,332)  
Outstanding at end of period (in shares) | shares 2,370,576 2,465,500
Weighted- average Exercise Price    
Outstanding at beginning of period (in dollars per share) | $ / shares $ 6.99  
Exercised (in dollars per share) | $ / shares 8.61  
Forfeited (in dollars per share) | $ / shares 10.00  
Outstanding at end of period (in dollars per share) | $ / shares $ 6.91 $ 6.99
Weighted- average Remaining Contractual Term (years)    
Outstanding 3 years 8 months 19 days 4 years 1 month 2 days
Aggregate Intrinsic Value    
Outstanding | $ $ 15,303,270 $ 2,773,190