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Stock Based Compensation - Stock Option Activity (Details) - Stock options issued and outstanding - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Number of options outstanding          
Number of options outstanding, beginning balance (in shares)     255,000    
Number of options, granted (in shares) 0 0 0 0  
Number of options exercised (in shares)     (70,923)    
Number of options, forfeited or cancelled (in shares)     (806)    
Number of options outstanding, ending balance (in shares) 183,271   183,271   255,000
Options vested and exercisable (in shares) 178,878   178,878    
Options vested and expected to vest (in shares) 183,032   183,032    
Weighted- average exercise price (per share)          
Weighted-average exercise price, beginning balance (in usd per share)     $ 10.82    
Weighted-average exercise price, granted (in usd per share)     0    
Weighted-average exercise price, exercised (in usd per share)     12.68    
Weighted-average exercise price, forfeited or cancelled (in usd per share)     10.49    
Weighted-average exercise price, ending balance (in usd per share) $ 10.10   10.10   $ 10.82
Weighted-average exercise price, options vested and exercisable (in usd per share) 9.79   9.79    
Weighted average exercise price, options vested and expected to vest (in usd per share) $ 10.09   $ 10.09    
Weighted- average remaining contract life (in years)          
Weighted-average remaining contract life, options outstanding (in years)     3 years 7 months 2 days   4 years 5 months 1 day
Weighted-average remaining contract life, options vested and exercisable (in years)     3 years 6 months 10 days    
Weighted average remaining contract life, options vested and expected to vest     3 years 7 months 2 days    
Aggregate intrinsic value  (in thousands)          
Aggregate intrinsic value, options outstanding $ 14,694   $ 14,694   $ 36,426
Aggregate intrinsic value, options exercised     9,059    
Aggregate intrinsic value, options vested and exercisable 14,398   14,398    
Aggregate intrinsic value, options vested and expected to vest $ 14,678   $ 14,678