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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Number of shares  
Outstanding, at the beginning of the period | shares 549,581
Options exercised | shares (77,239)
Outstanding, at the end of the period | shares 472,342
Vested or expected to vest at the end of the period | shares 472,225
Options exercisable at the end of the period | shares 444,008
Weighted-average exercise price  
Outstanding at the beginning of the period | $ / shares $ 10.71
Options exercised | $ / shares 6.51
Outstanding at the end of the period | $ / shares 11.40
Vested or expected to vest at the end of the period | $ / shares 11.40
Options exercisable at the end of the period | $ / shares $ 11.28
Weighted-average remaining contractual term (in years)  
Outstanding 4 years 2 months 4 days
Vested or expected to vest 4 years 2 months 4 days
Options exercisable 3 years 11 months 26 days
Aggregate intrinsic value  
Outstanding | $ $ 4,766
Vested or expected to vest | $ 4,765
Options exercisable | $ $ 4,532