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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2022
USD ($)
$ / shares
shares
Number of shares  
Outstanding, at the beginning of the period | shares 549,581
Options exercised | shares (58,401)
Outstanding, at the end of the period | shares 491,180
Vested or expected to vest at the end of the period | shares 491,009
Options exercisable at the end of the period | shares 454,703
Weighted-average exercise price  
Outstanding at the beginning of the period | $ / shares $ 10.71
Options exercised | $ / shares 5.36
Outstanding at the end of the period | $ / shares 11.35
Vested or expected to vest at the end of the period | $ / shares 11.35
Options exercisable at the end of the period | $ / shares $ 11.20
Weighted-average remaining contractual term (in years)  
Outstanding 4 years 4 months 28 days
Vested or expected to vest 4 years 4 months 28 days
Options exercisable 4 years 2 months 4 days
Aggregate intrinsic value  
Outstanding | $ $ 10,089
Vested or expected to vest | $ 10,086
Options exercisable | $ $ 9,407