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Stock-based Compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 12 Months Ended
--- | --- | ---
Feb. 29, 2020 | Jan. 31, 2019 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock-based compensation |  |  |  |  |
Weighted-average grant date fair value per share of grants (in dollars per share) |  |  |  |  | $ 12.60
Stock-based compensation expense |  |  | $ 27,136 | $ 22,874 | $ 24,255
Shares of common stock authorized for issuance (in shares) |  |  | 2,244,157 |  |
Proceeds from issuances of common stock from employee stock purchase plans |  |  | $ 460 | 337 | 755
Total intrinsic value of stock options exercised |  |  | $ 4,786 | $ 3,943 | $ 6,456
Performance share units |  |  |  |  |
Stock-based compensation |  |  |  |  |
Vesting period (in years) |  | 3 years |  |  |
Weighted-average grant date fair value per share of grants (in dollars per share) |  |  | $ 38.71 | $ 24.12 | $ 35.15
Stock-based compensation expense |  |  | $ 7,037 | $ 5,398 | $ 4,817
Performance period | 3 years |  |  | 3 years | 3 years
Cumulative performance period | 3 years |  |  | 3 years | 3 years
Unrecognized compensation cost related to outstanding options |  |  | $ 5,585 |  |
Period over which unrecognized compensation cost is expected to be recognized as expense |  |  | 1 year 7 months 6 days |  |
Share Based Compensation Arrangement By Share Based Payment Award Average Stock Price Period | 30 days |  |  | 30 days | 30 days
Share Based Compensation Arrangement By Share Based Payment Award Period Of Cumulative Revenue Goals |  | 3 years |  |  |
Performance share units | Minimum |  |  |  |  |
Stock-based compensation |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage | 0.00% | 0.00% |  | 0.00% | 0.00%
Performance share units | Maximum |  |  |  |  |
Stock-based compensation |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage | 200.00% | 200.00% |  |  |
Restricted stock units |  |  |  |  |
Stock-based compensation |  |  |  |  |
Weighted-average grant date fair value of shares granted |  |  | $ 26.25 | $ 17.53 | $ 24.23
Total fair value of shares vested |  |  | $ 17,677 | $ 10,166 | $ 11,165
Unrecognized compensation cost other than options |  |  | $ 37,022 |  |
Period over which unrecognized compensation cost is expected to be recognized as expense |  |  | 2 years 7 months 6 days |  |
Weighted-average grant date fair value of RSUs |  |  | $ 13,398 | 12,547 | 8,526
Employee Stock Option [Member] |  |  |  |  |
Stock-based compensation |  |  |  |  |
Purchase price percentage |  |  | 85.00% |  |
Issuance for employee stock purchase plan, shares |  |  | 26,505 |  |
Proceeds from issuances of common stock from employee stock purchase plans |  |  | $ 460 |  |
Employee stock purchase plan compensation expenses |  |  | 209 | $ 117 | $ 224
Unrecognized compensation cost related to outstanding options |  |  | $ 110 |  |
Period over which unrecognized compensation cost is expected to be recognized as expense |  |  | 2 months 12 days |  |

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