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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Stock options - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Number of shares |  |  |
Outstanding as of the beginning of the period | 549,581 | 964,211 | 1,639,146
Options granted |  |  | 40,000
Options exercised | (117,138) | (360,303) | (613,119)
Options forfeited |  | (54,327) | (101,816)
Outstanding as of the end of the period | 432,443 | 549,581 | 964,211
Vested or expected to vest at the end of the period | 432,399 |  |
Options exercisable at the end of the period | 415,776 |  |
Weighted-average exercise price |  |  |
Outstanding at the beginning of the year | $ 10.71 | $ 11.08 | $ 11.37
Options granted |  |  | 15.59
Options exercised (in dollars per share) | 7.43 | 11.06 | 10.74
Options forfeited (in dollars per share) |  | 14.98 | 19.41
Outstanding at the end of the period | 11.60 | $ 10.71 | $ 11.08
Vested or expected to vest at the end of the period (in dollars per share) | 11.60 |  |
Options exercisable at the end of the period (in dollars per share) | $ 11.53 |  |
Weighted-average remaining contractual term (in years) |  |  |
Outstanding | 3 years 9 months 18 days |  |
Vested or expected to vest | 3 years 9 months 18 days |  |
Options exercisable | 3 years 7 months 6 days |  |
Aggregate intrinsic value |  |  |
Outstanding | $ 10,472 |  |
Vested or expected to vest | 10,471 |  |
Options exercisable | $ 10,097 |  |

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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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