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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
shares
Number of shares  
Outstanding as of beginning of period | shares 432,443
Options exercised | shares (155,205)
Outstanding as of end of period | shares 277,238
Vested or expected to vest as of end of period | shares 277,234
Options exercisable as of end of period | shares 270,571
Weighted-average exercise price  
Outstanding as of beginning of period | $ / shares $ 11.60
Options exercised | $ / shares 11.04
Outstanding as of end of period | $ / shares 11.92
Vested or expected to vest as of end of period | $ / shares 11.92
Options exercisable as of end of period | $ / shares $ 11.88
Weighted-average remaining contractual term (in years)  
Outstanding 3 years 7 months 6 days
Vested or expected to vest 3 years 7 months 6 days
Options exercisable 3 years 6 months 14 days
Aggregate intrinsic value  
Options exercised | $ $ 8,247
Outstanding | $ 14,485
Vested or expected to vest | $ 14,485
Options exercisable | $ $ 14,147