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Loss per share - (Computations for Basic and Diluted Loss Per Share) (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Earnings Per Share [Abstract]        
Net Loss $ (6,154) $ (9,910) $ (7,652) $ (2,886)
Weighted-average common shares outstanding — basic 66,532 66,111 66,419 66,010
Weighted-average common shares outstanding — diluted 66,532 66,111 66,419 66,010
Loss per share - basic $ (0.09) $ (0.15) $ (0.12) $ (0.04)
Loss per share - diluted $ (0.09) $ (0.15) $ (0.12) $ (0.04)