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Equity Incentive Plans and Stock-Based Compensation (Details 3) - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Options      
Valuation assumptions      
Expected stock price volatility rate   38.00%  
Expected stock price volatility rate, minimum     33.00%
Expected stock price volatility rate, maximum     36.00%
Risk free interest rate   0.20%  
Risk free interest rate, minimum     1.40%
Risk free interest rate, maximum     1.60%
Expected term 5 years 6 months    
Weighted-average grant-date fair value of stock options granted   $ 5.46 $ 4.36
Options | Minimum      
Valuation assumptions      
Expected term     5 years 1 month 6 days
Options | Maximum      
Valuation assumptions      
Expected term     5 years 2 months 12 days
Employee stock purchase plan      
Valuation assumptions      
Expected stock price volatility rate     32.00%
Expected stock price volatility rate, minimum 32.00% 37.00%  
Expected stock price volatility rate, maximum 33.00% 46.00%  
Risk free interest rate   0.10%  
Risk free interest rate, minimum 0.04%   1.60%
Risk free interest rate, maximum 0.05%   2.40%
Expected term 6 months 6 months 6 months
Weighted-average fair value of purchase rights granted under the purchase plan $ 5.17 $ 3.46 $ 3.13
Stock compensation plan      
Valuation assumptions      
Dividend yield 0.00% 0.00% 0.00%