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Employee Benefit Plans and Stock-based Compensation (Details) - USD ($) $ in Millions | 1 Months Ended | 12 Months Ended
--- | --- | ---
May 31, 2021 | May 31, 2019 | May 31, 2015 | May 31, 2013 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Options |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Exercised (in shares) |  |  |  |  | 172,000 | 507,000 | 905,000
Intrinsic value of options exercised |  |  |  |  | $ 0.8 | $ 3.7 | $ 3.2
1997 Stock Option Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Number of shares available for grant (in shares) |  |  |  |  | 1,928,994 |  |
2007 Equity Incentive Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Number of shares authorized for issuance (in shares) |  |  |  |  | 1,300,000 |  |
Number of additional shares authorized for issuance (in shares) |  |  |  | 2,000,000 |  |  |
2007 Equity Incentive Plan | Options |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 3 years |  |
2007 Equity Incentive Plan | Restricted stock awards | Time based vesting |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 3 years |  |
2007 Equity Incentive Plan | Restricted stock awards | Performance Based Vesting |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 12 months |  |
2007 Equity Incentive Plan | Maximum | Options |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Expected term |  |  |  |  | 10 years |  |
2015 Equity Incentive Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Number of shares authorized for issuance (in shares) |  |  | 399,562 |  |  |  |
Number of additional shares authorized for issuance (in shares) | 3,600,000 | 1,600,000 | 3,000,000 |  |  |  |
Number of shares available for grant (in shares) |  |  |  |  | 2,800,000 |  |
2015 Equity Incentive Plan | Consultant |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 1 year |  |
2015 Equity Incentive Plan | Options |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 4 years |  |
2015 Equity Incentive Plan | Restricted stock awards | Time based vesting |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 3 years |  |
2015 Equity Incentive Plan | Restricted stock awards | Performance Based Vesting |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 12 months |  |
2015 Equity Incentive Plan | Maximum | Options |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Expected term |  |  |  |  | 10 years |  |

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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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