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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options
$ / shares in Units, $ in Thousands
9 Months Ended
Sep. 30, 2022
USD ($)
$ / shares
shares
Number of shares  
Outstanding, at the beginning of the period | shares 549,581
Options exercised | shares (83,100)
Outstanding, at the end of the period | shares 466,481
Vested or expected to vest at the end of the period | shares 466,405
Options exercisable at the end of the period | shares 444,814
Weighted-average exercise price  
Outstanding at the beginning of the period | $ / shares $ 10.71
Options exercised | $ / shares 6.59
Outstanding at the end of the period | $ / shares 11.45
Vested or expected to vest at the end of the period | $ / shares 11.45
Options exercisable at the end of the period | $ / shares $ 11.36
Weighted-average remaining contractual term (in years)  
Outstanding 3 years 11 months 23 days
Vested or expected to vest 3 years 11 months 23 days
Options exercisable 3 years 9 months 29 days
Aggregate intrinsic value  
Outstanding | $ $ 6,518
Vested or expected to vest | $ 6,517
Options exercisable | $ $ 6,255