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Stockholders' Equity - Stock Options Outstanding Rollforward (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Number of Options    
Outstanding at December 31 (in shares) 2,034 1,624
Granted (in shares) 497 654
Exercised (in shares) (274) (110)
Expired, canceled or forfeited (in shares) (130) (134)
Outstanding at December 31 (in shares) 2,127 2,034
Exercisable at December 31 (in shares) 858 611
Options vested or expected to vest, number of option (in shares) 2,127 2,034
Weighted Average Exercise Price    
Outstanding at December 31 (in dollars per share) $ 9.25 $ 9.86
Granted (in dollars per share) 12.68 8.12
Exercised (in dollars per share) 9.86 8.02
Expired, canceled or forfeited (in dollars per share) 9.96 12.14
Outstanding at December 31 (in dollars per share) 9.93 9.25
Exercisable at December 31 (in dollars per share) 9.41 9.83
Options vested or expected to vest, weighted average exercise price (in shares) $ 9.93 $ 9.25
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Stock options, Outstanding, Weighted Average Remaining Contractual Life 2 years 8 months 4 days 3 years 2 months 15 days
Options vested or expected to vest, Weighted Average Remaining Contractual Life 2 years 8 months 4 days 3 years 2 months 15 days
Stock options, Exercisable, Weighted Average Remaining Contractual Life 1 year 7 months 24 days 2 years 2 months 8 days
Stock options, Outstanding, Aggregate Intrinsic Value $ 931 $ 4,288
Stock options, Exercisable, Aggregate Intrinsic Value 453 939
Options vested or expected to vest, Aggregate Intrinsic Value $ 931 $ 4,288