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Equity Incentive Plans and Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Summary of Stock-based Compensation
A summary of our stock-based compensation expense is as follows (in thousands):
 Years Ended December 31,
 202420232022
Stock-based compensation by type of award:
Stock options$— $— $— 
Stock awards15,958 12,999 11,995 
Employee stock purchase rights1,090 1,082 1,336 
Total$17,048 $14,081 $13,331 
Stock-based compensation by category of expense:
Cost of revenue$2,022 $1,702 $1,556 
Sales and marketing3,946 3,722 4,556 
Research and development4,199 3,232 3,346 
General and administrative6,881 5,425 3,873 
Total$17,048 $14,081 $13,331 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
The fair values of employee stock purchase rights were estimated as of the grant date using the Black-Scholes option-pricing model with the following assumptions:
 Years Ended December 31,
202420232022
Expected term (in years)0.50.50.5
Risk-free interest rate5.0%5.3%0.9%
Expected volatility32%42%58%
Dividend rate1.50%1.80%1.25%
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
The fair values of employee stock purchase rights were estimated as of the grant date using the Black-Scholes option-pricing model with the following assumptions:
 Years Ended December 31,
202420232022
Expected term (in years)0.50.50.5
Risk-free interest rate5.0%5.3%0.9%
Expected volatility32%42%58%
Dividend rate1.50%1.80%1.25%
Summary of Activity under Stock Option Plans
The following tables summarize our stock option activities and related information:
 Number of Shares
(thousands)		Weighted-Average Exercise Price Per ShareWeighted-Average Remaining Contractual Term
(years)
Aggregate Intrinsic Value (1)
(thousands)
Outstanding as of December 31, 202380 $4.63 
Granted— —   
Exercised(77)4.39  
Canceled(3)12.19   
Outstanding as of December 31, 2024— $— 0$— 
Vested and exercisable as of December 31, 2024— $— 0$— 
(1)The aggregate intrinsic value represents the excess of the closing price of our common stock of $18.40 as of December 31, 2024 over the exercise price of the outstanding in-the-money options.
Schedule of Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Grant Date Intrinsic Value [Table Text Block]
The intrinsic value of options exercised is as follows (in thousands):
 Years Ended December 31,
 202420232022
Intrinsic value of options exercised (1)
$822 $1,440 $5,744 
(1)Intrinsic value of options exercised is the difference between the closing price of our common stock at the time of exercise and the exercise price paid.
Summary of Restricted Stock Units Activity
The following table summarizes our restricted stock unit activities and related information:
Service-Based Restricted Stock Units (RSUs)Number of Shares
(thousands)		Weighted-Average Grant Date Fair Value Per ShareWeighted-Average Remaining Vesting Term
(years)
Nonvested as of December 31, 20232,360 $13.94 
Granted1,424 14.10 
Released(916)13.25 
Canceled(372)14.11 
Nonvested as of December 31, 20242,496 $14.26 1.42

The following table summarizes our market performance-based restricted stock unit activities and related information:
Market Performance-Based Restricted Stock Units (PSUs)Number of Shares
(thousands)		Weighted-Average Grant Date Fair Value Per ShareWeighted-Average Remaining Vesting Term
(years)
Nonvested as of December 31, 2023657 $10.32 
Granted363 11.51 
Released(243)7.88 
Canceled(31)11.99 
Nonvested as of December 31, 2024746 $11.63 2.63

The fair values of market performance-based restricted stock units were estimated as of the grant date using a Monte Carlo valuation model with the following assumptions:
 Years Ended December 31,
202420232022
Expected term (in years)4.04.04.0
Risk-free interest rate4.0%4.3%1.4%
Expected volatility52.01%50.20%47.98%
Dividend rate1.77%1.63%1.39%

Following is additional information pertaining to our stock award activities for both RSUs and PSUs (in thousands, except per share data):
 Years Ended December 31,
202420232022
Weighted-average grant date fair value of stock awards granted (per share)$13.57 $14.04 $13.76 
Total fair value of stock awards released (vested) during the period$14,044 $13,535 $12,226