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Common Stock, Preferred Stock and Equity Plans - Stock and Option Plans (Details) - shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Awards outstanding (in shares) 7,615,677    
Additional awards authorized for grant (in shares) 13,385,321    
2013 Stock and Option Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Awards outstanding (in shares) 7,231,859    
Additional awards authorized for grant (in shares) 13,385,321    
Additional shares authorized (in shares)   5,000,000 8,000,000
2006 Stock and Option Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Awards outstanding (in shares) 383,818    
Additional awards authorized for grant (in shares) 0    
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expiration period 10 years