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Stockholders' Equity - Summary of Restricted Stock Unit Activity (Details) - Restricted Stock Units
shares in Thousands
3 Months Ended
Mar. 31, 2021
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of shares outstanding | shares 603
Number of shares granted | shares 17
Number of shares released | shares (39)
Number of shares expired and forfeited | shares (11)
Number of shares outstanding | shares 570
Number of shares outstanding, weighted average grant date fair value | $ / shares $ 15.84
Number of shares granted, weighted average grant date fair value | $ / shares 18.93
Number of shares released, weighted average grant date fair value | $ / shares 15.98
Number of shares expired and forfeited, weighted average grant date fair value | $ / shares 15.85
Number of shares outstanding, weighted average grant date fair value | $ / shares $ 15.93