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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2024
USD ($)
$ / shares
shares
Number of shares  
Outstanding as of beginning of period | shares 124,732
Options exercised | shares (25,125)
Options expired | shares (1,125)
Outstanding and vested as of end of period | shares 98,482
Weighted-average exercise price  
Outstanding as of beginning of period | $ / shares $ 11.60
Options exercised | $ / shares 8.76
Options expired | $ / shares 8.76
Outstanding and vested as of end of period | $ / shares $ 12.36
Weighted-average remaining contractual term (in years)  
Outstanding and vested as of end of period 3 years 8 months 19 days
Aggregate intrinsic value  
Options exercised | $ $ 1,256
Outstanding and vested as of end of period | $ $ 4,570