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Stockholders' Equity - Employee Stock Purchase Plan (Details) - USD ($)
$ in Thousands
 12 Months Ended
Jan. 01, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Apr. 27, 2017
Stockholders' Equity          
Stock-based compensation expense   $ 9,600 $ 10,173 $ 10,689  
2016 Plan          
Stockholders' Equity          
Shares reserved   5,957,683      
Increase in number of shares reserved and available for issuance 972,591        
Employee Stock Purchase Plan          
Stockholders' Equity          
Purchase price of common stock under plan (as a percent)   85.00%      
Offering period (in months)   6 months      
Shares reserved   1,559,151     1,600,000
Incremental share increase (as a percent)   1.00%      
Incremental share increase (in shares)   500,000      
Increase in number of shares reserved and available for issuance 194,518        
Stock-based compensation expense   $ 800 $ 800 $ 900