Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans - Schedule of Stock Option Activity (Details)

v3.22.4
Equity Incentive Plans - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]      
Number of Options Outstanding, Beginning Balance 783,928 813,242 617,493
Number of Options Outstanding, Granted 557,218 111,489 347,095
Number of Options Outstanding, Exercised (41,819) (97,702) (96,456)
Number of Options Outstanding, Canceled (43,271) (43,101) (54,890)
Number of Options Outstanding, Ending Balance 1,256,056 783,928 813,242
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]      
Weighted Average Exercise Price, Beginning Balance $ 28.00 $ 24.58 $ 17.13
Weighted Average Exercise Price, Granted 27.40 39.00 32.14
Weighted Average Exercise Price, Exercised 12.88 9.20 3.25
Weighted Average Exercise Price, Canceled 28.85 35.84 26.07
Weighted Average Exercise Price, Ending Balance 28.20 28.00 24.58
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted Average Grant Date Fair Value per Option, Granted $ 16.30 $ 23.32 $ 19.15
Aggregate Intrinsic Value Exercised $ 778 $ 3,064 $ 2,257