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Stock-based Compensation (Details 6)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Performance-based restricted stock unit [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Method Used [Line Items]      
Expected dividend yield 0.00% 1.30% 1.20%
Employee Stock Purchase Plan (ESPP)      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Method Used [Line Items]      
Risk-free interest rate 0.10% 2.00% 2.30%
Expected dividend yield 1.80% 1.30% 1.30%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions 0.00% 0.00% 10.50%
Expected term 6 months 6 months 6 months
Expected volatility 53.50% 25.00% 26.40%