Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Number of shares
Outstanding, at the beginning of the period	964,211	1,639,146	3,235,891
Options granted	0	40,000	80,000
Options exercised	(360,303)	(613,119)	(1,249,785)
Stock options forfeited	(54,327)	(101,816)	(426,960)
Outstanding, at the end of the period	549,581	964,211	1,639,146
Vested or expected to vest at the end of the period	549,397
Options exercisable at the end of the period	500,826
Weighted-average exercise price
Outstanding at the beginning of the year	$ 11.08	$ 11.37	$ 10.25
Options granted	0	15.59	13.25
Options exercised (in dollars per share)	11.06	10.74	7.79
Options forfeited (in dollars per share)	14.98	19.41	13.71
Outstanding at the end of the period	10.71	$ 11.08	$ 11.37
Vested or expected to vest at the end of the period (in dollars per share)	10.71
Options exercisable at the end of the period (in dollars per share)	$ 10.48
Weighted-average remaining contractual term (in years)
Outstanding (in years)	4 years 3 months 18 days
Vested or expected to vest (in years)	4 years 3 months 18 days
Options exercisable (in years)	4 years
Aggregate intrinsic value
Outstanding	$ 10,265
Vested or expected to vest	10,262
Options exercisable	$ 9,472