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Equity Incentive Plan - Schedule of Components of Stock Based Compensation Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense $ 13,784 $ 12,589 $ 10,012
Operating Expenses      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense 815 837 819
Selling, General and Administrative Expenses      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense $ 12,969 $ 11,752 $ 9,193