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Stock-Based Compensation and Compensation Plans - Options Outstanding and Exercisable by Exercise Price and Options Exercised (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2020
USD ($)
$ / shares
shares
Options Outstanding  
Total Options Outstanding (in shares) | shares 8,928
Weighted Average Remaining Life (Years) 7 years 7 months 6 days
Weighted Average Exercise Price (in dollars per share) $ 9.22
Aggregate Intrinsic Value of Options Outstanding | $ $ 20,553
Options Exercisable  
Number Exercisable (in shares) | shares 4,462
Weighted Average Exercise Price (in dollars per share) $ 13.51
Aggregate Intrinsic Value of Options Exercisable | $ $ 11,741
$1.13-$2.90  
Range of Exercise Prices  
Exercise prices, low end of range (in dollars per share) $ 1.13
Exercise prices, high end of range (in dollars per share) $ 2.90
Options Outstanding  
Total Options Outstanding (in shares) | shares 1,352
Weighted Average Remaining Life (Years) 7 years 8 months 12 days
Weighted Average Exercise Price (in dollars per share) $ 1.68
Options Exercisable  
Number Exercisable (in shares) | shares 808
Weighted Average Exercise Price (in dollars per share) $ 1.79
$2.91-$3.18  
Range of Exercise Prices  
Exercise prices, low end of range (in dollars per share) 2.91
Exercise prices, high end of range (in dollars per share) $ 3.18
Options Outstanding  
Total Options Outstanding (in shares) | shares 2,053
Weighted Average Remaining Life (Years) 7 years 6 months
Weighted Average Exercise Price (in dollars per share) $ 2.99
Options Exercisable  
Number Exercisable (in shares) | shares 1,180
Weighted Average Exercise Price (in dollars per share) $ 2.94
$3.19-$4.88  
Range of Exercise Prices  
Exercise prices, low end of range (in dollars per share) 3.19
Exercise prices, high end of range (in dollars per share) $ 4.88
Options Outstanding  
Total Options Outstanding (in shares) | shares 1,790
Weighted Average Remaining Life (Years) 7 years 8 months 12 days
Weighted Average Exercise Price (in dollars per share) $ 4.24
Options Exercisable  
Number Exercisable (in shares) | shares 1,022
Weighted Average Exercise Price (in dollars per share) $ 4.39
$4.89-$8.77  
Range of Exercise Prices  
Exercise prices, low end of range (in dollars per share) 4.89
Exercise prices, high end of range (in dollars per share) $ 8.77
Options Outstanding  
Total Options Outstanding (in shares) | shares 2,491
Weighted Average Remaining Life (Years) 9 years 7 months 6 days
Weighted Average Exercise Price (in dollars per share) $ 6.64
Options Exercisable  
Number Exercisable (in shares) | shares 211
Weighted Average Exercise Price (in dollars per share) $ 5.24
$8.78-$73.22  
Range of Exercise Prices  
Exercise prices, low end of range (in dollars per share) 8.78
Exercise prices, high end of range (in dollars per share) $ 73.22
Options Outstanding  
Total Options Outstanding (in shares) | shares 1,242
Weighted Average Remaining Life (Years) 3 years 9 months 18 days
Weighted Average Exercise Price (in dollars per share) $ 40.08
Options Exercisable  
Number Exercisable (in shares) | shares 1,241
Weighted Average Exercise Price (in dollars per share) $ 40.08