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Employee Stock Purchase Plan, Stock Options and Warrants - PSUs Fair Value Calculation Assumptions (Details) - Stock-Settled Performance-Based Restricted Stock Units
12 Months Ended
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Risk-free interest rate, minimum 1.10%
Risk-free interest rate, maximum 1.30%
Expected price volatility, minimum 40.20%
Expected price volatility, maximum 56.10%
Minimum  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Expected option term / Performance Period 9 months 18 days
Maximum  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Expected option term / Performance Period 2 years 9 months 18 days