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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2023
USD ($)
$ / shares
shares
Number of shares  
Outstanding as of beginning of period | shares 432,443
Options exercised | shares (80,841)
Outstanding as of end of period | shares 351,602
Vested or expected to vest as of end of period | shares 351,589
Options exercisable as of end of period | shares 339,935
Weighted-average exercise price  
Outstanding as of beginning of period | $ / shares $ 11.60
Options exercised | $ / shares 9.74
Outstanding as of end of period | $ / shares 12.03
Vested or expected to vest as of end of period | $ / shares 12.03
Options exercisable as of end of period | $ / shares $ 11.99
Weighted-average remaining contractual term (in years)  
Outstanding 3 years 5 months 8 days
Vested or expected to vest 3 years 5 months 8 days
Options exercisable 3 years 4 months 2 days
Aggregate intrinsic value  
Outstanding | $ $ 13,793
Vested or expected to vest | $ 13,793
Options exercisable | $ 13,351
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value | $ $ 3,356