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Income Taxes (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Unrecognized Tax Benefits $ 649 $ 566 $ 614
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions 45 40  
Unrecognized Tax Benefits, Increase Resulting from Prior Period Tax Positions 64 0  
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions (26) (88)  
Unrecognized Tax Benefits that Would Impact Effective Tax Rate 28    
Income Tax Examination, Penalties and Interest Expense 0 0  
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount 3,281    
Deferred Tax Assets, Operating Loss Carryforwards, Not Subject to Expiration 19,591    
Operating Loss Carryforwards 49,240    
Deferred Tax Assets, Tax Credit Carryforwards, Research 4,180    
Deferred Tax Assets, Tax Deferred Expense, Other 0 187  
Deferred Tax Assets, Tax Deferred Expense, Compensation and Benefits, Share-based Compensation Cost 1,681 1,011  
Deferred Tax Assets, Deferred Income 1 9  
Deferred Tax Assets, Tax Deferred Expense, Reserves and Accruals, Accrued Liabilities 1,581 2,163  
Deferred Tax Assets, Other 3 3  
Deferred Tax Assets, Gross 23,420 20,294  
Deferred Tax Assets, Valuation Allowance (16,109) (12,828)  
Deferred Tax Assets, Net of Valuation Allowance 7,311 7,466  
Deferred Tax Liabilities, Intangible Assets 0 (1,257)  
Deferred Tax Liabilities, Property, Plant and Equipment (167) (205)  
Deferred Tax Liabilities, Deferred Expense (2,660) (1,732)  
Deferred Tax Liabilities, Leasing Arrangements (1,288) (1,837)  
Deferred Tax Liabilities, Goodwill (4,924) (3,938)  
Deferred Tax Liabilities, Gross (9,039) (8,969)  
Deferred Tax Liabilities, Net (1,728) (1,503)  
Effective Income Tax Rate Reconciliation at Federal Statutory Income Tax Rate, Amount (1,912) (3,013)  
Effective Income Tax Rate Reconciliation, State and Local Income Taxes, Amount (686) (1,181)  
Effective Income Tax Rate Reconciliation, Tax Credit, Amount (800) 166  
Effective Income Tax Rate Reconciliation, Tax Credit, Other, Amount 591 14  
Effective Income Tax Rate Reconciliation, Change in Deferred Tax Assets Valuation Allowance, Amount 3,281 4,139  
Income tax expense 109 112  
Deferred Tax Assets, Operating Loss Carryforwards 11,643 11,462  
Deferred Tax Assets, Tax Credit Carryforwards, Other 4,255 3,407  
Current State and Local Tax Expense (Benefit) (59) 204  
Current Income Tax Expense (Benefit) (116) 204  
Deferred Federal Income Tax Expense (Benefit) 184 187  
Deferred State and Local Income Tax Expense (Benefit) 41 (279)  
Deferred Income Tax Expense (Benefit) 225 (92)  
Current Federal Tax Expense (Benefit) (57) 0  
Effective Income Tax Rate Reconciliation, Nondeductible Expense, Share-Based Payment Arrangement, Amount (428) (44)  
Effective Income Tax Rate Reconciliation, Nondeductible Expense, Other, Amount 63 31  
Deferred Tax Assets, Goodwill and Intangible Assets 857 0  
Deferred Tax Assets, Capitalized Software 2,012 313  
Deferred Tax Assets, Tax Deferred Expense, Reserves and Accruals, Other $ 1,387 $ 1,739