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Income Taxes (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Unrecognized Tax Benefits $ 566 $ 614 $ 587
Unrecognized Tax Benefits, Decrease Resulting from Current Period Tax Positions   23  
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions 40    
Unrecognized Tax Benefits, Increase Resulting from Prior Period Tax Positions 0 4  
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions (88) 0  
Unrecognized Tax Benefits that Would Impact Effective Tax Rate 15    
Income Tax Examination, Penalties and Interest Expense 0 0  
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount 4,139    
Deferred Tax Assets, Operating Loss Carryforwards, Not Subject to Expiration 17,853    
Operating Loss Carryforwards 47,386    
Deferred Tax Assets, Tax Credit Carryforwards, Research 3,520    
Deferred Tax Assets, Tax Deferred Expense, Other 187 5  
Deferred Tax Assets, Tax Deferred Expense, Compensation and Benefits, Share-based Compensation Cost 1,011 480  
Deferred Tax Assets, Deferred Income 9 27  
Deferred Tax Assets, Tax Deferred Expense, Reserves and Accruals 1,739 984  
Deferred Tax Assets, Tax Deferred Expense, Reserves and Accruals, Accrued Liabilities 2,163 1,637  
Deferred Tax Assets, Other 3 2  
Deferred Tax Assets, Gross 19,981 18,257  
Deferred Tax Assets, Valuation Allowance (12,828) (8,689)  
Deferred Tax Assets, Net of Valuation Allowance 7,153 9,568  
Deferred Tax Liabilities, Intangible Assets (1,257) (4,075)  
Deferred Tax Liabilities, Property, Plant and Equipment (205) (189)  
Deferred Tax Liabilities, Deferred Expense, Capitalized Software 313 (1,835)  
Deferred Tax Liabilities, Deferred Expense (1,732) (1,218)  
Deferred Tax Liabilities, Leasing Arrangements (1,837) (1,494)  
Deferred Tax Liabilities, Goodwill (3,938) (2,352)  
Deferred Tax Liabilities, Gross (8,656) (11,163)  
Deferred Tax Liabilities, Net (1,503) (1,595)  
Effective Income Tax Rate Reconciliation at Federal Statutory Income Tax Rate, Amount (3,013) 846  
Effective Income Tax Rate Reconciliation, State and Local Income Taxes, Amount (1,181) (207)  
Effective Income Tax Rate Reconciliation, Other Adjustments, Amount 0 (1,817)  
Effective Income Tax Rate Reconciliation, Nondeductible Expense, Amount (13) 34  
Effective Income Tax Rate Reconciliation, Tax Credit, Amount 166 (308)  
Effective Income Tax Rate Reconciliation, Tax Credit, Other, Amount 14 457  
Effective Income Tax Rate Reconciliation, Change in Deferred Tax Assets Valuation Allowance, Amount 4,139 1,797  
Income tax expense 112 802  
Deferred Tax Assets, Operating Loss Carryforwards 11,462 11,522  
Deferred Tax Assets, Tax Credit Carryforwards, Other 3,407 3,600  
Current State and Local Tax Expense (Benefit) 204 95  
Current Income Tax Expense (Benefit) 204 95  
Deferred Federal Income Tax Expense (Benefit) 187 292  
Deferred State and Local Income Tax Expense (Benefit) (279) 415  
Deferred Income Tax Expense (Benefit) $ (92) $ 707