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Stock-Based Compensation - Summary of outstanding stock options (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
9 Months Ended
Sep. 30, 2022
Dec. 31, 2021
Shares    
Outstanding at beginning of period (in shares) 194  
Granted (in shares) 0  
Exercised (in shares) (8)  
Forfeited (in shares) (1)  
Expired (in shares) (5)  
Outstanding at end of period (in shares) 180  
Vested and expected to vest (in shares) 177  
Exercisable (in shares) 152  
Weighted Avg. Exercise Price    
Outstanding at beginning of period (in dollars per share) $ 4.12  
Granted (in dollars per share) 0  
Exercised (in dollars per share) 2.15  
Forfeited (in dollars per share) 5.52  
Expired (in dollars per share) 6.80  
Outstanding at end of period (in dollars per share) 4.12  
Vested and expected to vest (in dollars per share) 4.10  
Exercisable (in dollars per share) $ 4.00  
Additional disclosures    
Wtd. Avg. Remaining Contractual Life (Yrs), Outstanding 4 years 2 months 12 days  
Wtd. Avg. Remaining Contractual Life (Yrs), Vested and expected to vest 4 years 2 months 12 days  
Wtd. Avg. Remaining Contractual Life (Yrs), Exercisable 3 years 7 months 6 days  
Aggregate Intrinsic Value, Exercised $ 11  
Aggregate Intrinsic Value, Forfeited 0  
Aggregate Intrinsic Value, Outstanding 12 $ 218
Aggregate Intrinsic Value, Vested and expected to vest 12  
Aggregate Intrinsic Value, Exercisable $ 10