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Consolidated Statements of Cash Flows (Parenthetical) - USD ($)
Mar. 31, 2021
Dec. 31, 2020
Mar. 31, 2020
Dec. 31, 2019
Reconciliation of cash, cash equivalents, and restricted cash        
Cash and cash equivalents $ 22,455,000 $ 9,649,000 $ 24,209,000  
Restricted cash 1,200,000 1,200,000 600,000  
Cash, cash equivalents and restricted cash $ 23,655,000 $ 10,849,000 $ 24,809,000 $ 6,733,000