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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, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of shares      
Outstanding as of the beginning of the period 432,443 549,581 964,211
Options exercised (307,711) (117,138) (360,303)
Options forfeited     (54,327)
Outstanding as of the end of the period 124,732 432,443 549,581
Vested or expected to vest at the end of the period 124,732    
Options exercisable at the end of the period 124,732    
Weighted-average exercise price      
Outstanding at the beginning of the year $ 11.60 $ 10.71 $ 11.08
Options exercised (in dollars per share) 11.61 7.43 11.06
Options forfeited (in dollars per share)     14.98
Outstanding at the end of the period 11.60 $ 11.60 $ 10.71
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) $ 11.60    
Weighted-average remaining contractual term (in years)      
Outstanding 3 years 4 months 6 days    
Vested or expected to vest 3 years 4 months 6 days    
Options exercisable 3 years 4 months 6 days    
Aggregate intrinsic value      
Options exercised $ 17,430    
Outstanding 7,066    
Vested or expected to vest 7,066    
Options exercisable $ 7,066