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Net Income Per Share - Components and Computation of Basic and Diluted Net Income Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Numerator      
Net income $ 65,824 $ 55,134 $ 44,597
Weighted average common shares used to compute net income per share      
Weighted average common shares outstanding, basic (in shares) 36,646 36,117 35,928
Options to purchase common stock and ESPP (in shares) 265 382 529
PSUs, RSUs, RSAs, and DSUs (n shares) 564 454 505
Weighted average common shares outstanding, diluted (in shares) 37,475 36,953 36,962
Net income per share      
Basic (in dollars per share) $ 1.80 $ 1.53 $ 1.24
Diluted (in dollars per share) $ 1.76 $ 1.49 $ 1.21