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Stockholders' Equity - Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022 | Apr. 27, 2016
Stockholders' Equity |  |  |  |
Stock-based compensation expense | $ 7,819 | $ 7,547 | $ 9,600 |
2016 Plan |  |  |  |
Stockholders' Equity |  |  |  |
Shares reserved | 6,475,903 |  |  |
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 | 1,444,905 |  |  | 1,600,000
Incremental share increase (as a percent) | 1.00% |  |  |
Incremental share increase (in shares) | 500,000 |  |  |
Stock-based compensation expense | $ 500 | $ 600 | $ 800 |

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