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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2021
USD ($)
$ / shares
shares
Number of shares  
Outstanding, at the beginning of the period | shares 964,211
Options granted | shares 0
Options exercised | shares (99,458)
Options forfeited | shares (51,477)
Outstanding, at the end of the period | shares 813,276
Vested or expected to vest at the end of the period | shares 812,918
Options exercisable at the end of the period | shares 728,233
Weighted-average exercise price  
Outstanding at the beginning of the period | $ / shares $ 11.08
Options granted | $ / shares 0
Options exercised | $ / shares 11.29
Options forfeited | $ / shares 15.09
Outstanding at the end of the period | $ / shares 10.80
Vested or expected to vest at the end of the period | $ / shares 10.80
Options exercisable at the end of the period | $ / shares $ 10.54
Weighted-average remaining contractual term (in years)  
Outstanding 4 years 6 months
Vested or expected to vest 4 years 4 months 24 days
Options exercisable 4 years 1 month 6 days
Aggregate intrinsic value  
Outstanding | $ $ 10,497
Vested or expected to vest | $ 10,493
Options exercisable | $ $ 9,590