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Condensed Consolidated Statements of Operations (Unaudited) - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Revenues $ 53,165 $ 58,749 $ 103,810 $ 109,202
Cost of revenues 21,056 22,363 40,518 41,475
Gross profit 32,109 36,386 63,292 67,727
Operating expense:        
Selling 9,650 9,200 18,626 19,223
General and administrative 17,526 18,202 35,586 38,414
Research and development 4,993 4,989 9,804 10,689
Total operating expense 32,169 32,391 64,016 68,326
Operating (loss) income (60) 3,995 (724) (599)
Nonoperating expense:        
Interest expense and amortization of debt issuance costs 905 1,214 1,953 2,228
Other expense (income), net 360 (603) (415) (799)
Total nonoperating expense, net 1,265 611 1,538 1,429
(Loss) earnings before income taxes (1,325) 3,384 (2,262) (2,028)
Income tax (benefit) expense (95) 2,078 (483) (1,896)
Net (loss) income $ (1,230) $ 1,306 $ (1,779) $ (132)
Net (loss) earnings per share:        
Basic (loss) earnings per share (in dollars per share) $ (0.23) $ 0.25 $ (0.33) $ (0.02)
Diluted (loss) earnings per share (in dollars per share) $ (0.23) $ 0.24 $ (0.33) $ (0.02)
Weighted-average common shares outstanding:        
Basic (in shares) 5,387 5,323 5,379 5,298
Fully diluted shares (in shares) 5,387 5,364 5,379 5,298