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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