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Equity Plans - Employee Stock Purchase Plan (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Equity Plans    
Stock-based compensation $ 5,935 $ 2,660
2016 Employee Stock Purchase Plan    
Equity Plans    
Maximum payroll deduction for share purchases (as a percent) 15.00%  
Purchase price of stock (as a percent) 85.00%  
Shares issued in period 28,931  
Number of shares available for issuance 1,285,068