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Stockholders' Equity - Basic and Diluted Net Income (Loss) Per Common Shares (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Numerator:                
Net (loss) income $ (2,494) $ (719) $ (2,297) $ 3,165 $ 3,759 $ (4,539) $ (5,510) $ 2,384
Denominator:                
Basic weighted average common shares outstanding (in shares) 19,464,893     19,051,502     19,378,543 19,008,969
Diluted weighted average common shares outstanding (in shares) 19,464,893     19,208,452     19,378,543 19,273,243
Basic net (loss) income per common share (in usd per share) $ (0.13)     $ 0.17     $ (0.28) $ 0.13
Diluted net (loss) income per common share (in usd per share) $ (0.13)     $ 0.16     $ (0.28) $ 0.12