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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options
$ / shares in Units, $ in Thousands
 9 Months Ended
Sep. 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 (176,774)
Options forfeited | shares (51,477)
Outstanding, at the end of the period | shares 735,960
Vested or expected to vest at the end of the period | shares 735,700
Options exercisable at the end of the period | shares 668,111
Weighted-average exercise price  
Outstanding at the beginning of the period | $ / shares $ 11.08
Options granted | $ / shares 0
Options exercised | $ / shares 10.97
Options forfeited | $ / shares 15.09
Outstanding at the end of the period | $ / shares 10.83
Vested or expected to vest at the end of the period | $ / shares 10.83
Options exercisable at the end of the period | $ / shares $ 10.60
Weighted-average remaining contractual term (in years)  
Outstanding 4 years 4 months 24 days
Vested or expected to vest 4 years 4 months 24 days
Options exercisable 4 years 1 month 6 days
Aggregate intrinsic value  
Outstanding | $ $ 8,368
Vested or expected to vest | $ 8,366
Options exercisable | $ $ 7,749