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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options
$ / shares in Units, $ in Thousands
 9 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Number of shares  
Outstanding as of beginning of period | shares 432,443
Options exercised | shares (268,289)
Outstanding as of end of period | shares 164,154
Vested or expected to vest as of end of period | shares 164,154
Options exercisable as of end of period | shares 162,487
Weighted-average exercise price  
Outstanding as of beginning of period | $ / shares $ 11.60
Options exercised | $ / shares 11.49
Outstanding as of end of period | $ / shares 11.79
Vested or expected to vest as of end of period | $ / shares 11.79
Options exercisable as of end of period | $ / shares $ 11.77
Weighted-average remaining contractual term (in years)  
Outstanding 3 years 8 months 12 days
Vested or expected to vest 3 years 8 months 12 days
Options exercisable 3 years 8 months 1 day
Aggregate intrinsic value  
Options exercised | $ $ 3,082
Outstanding | $ 7,223
Vested or expected to vest | $ 7,223
Options exercisable | $ $ 7,153