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Stock-Based Compensation - Equity Incentive Plans (Details) - 2016 Plan - shares
12 Months Ended
Jan. 20, 2017
Dec. 31, 2020
Dec. 31, 2019
Stock-Based Compensation      
Annual increase (as percent of outstanding common stock) 4.00%    
Number of options or stock awards available for grant under the Plan   340,144  
Common Stock      
Stock-Based Compensation      
Additional shares authorized (in shares)     3,000,000
Restricted Stock Units (RSUs)      
Stock-Based Compensation      
Number of options issued under the plan   92,500 181,000