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Stock-Based Compensation - Options (Details) - Employee Stock Option [Member] - USD ($)
$ / shares in Units, shares in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award    
Unamortized compensation costs $ 18,000  
Value of estimated forfeitures $ 2,000  
Weighted-average period of amortization 1 month 6 days  
Number of Options Outstanding    
Options outstanding, beginning of period (in shares) 1,206  
Exercised (in shares) (4)  
Canceled and expired (in shares) (2)  
Options outstanding, end of period (in shares) 1,200 1,206
Options vested and unvested options expected to vest, net of forfeitures, end of period (in shares) 1,200  
Options exercisable, end of period (in shares) 1,177  
Weighted-average Exercise Price    
Options outstanding, beginning of period (in dollars per share) $ 5.09  
Exercised (in dollars per share) 2.30  
Canceled and expired (in dollars per share) 4.79  
Options outstanding, end of period (in dollars per share) 5.10 $ 5.09
Options vested and unvested options expected to vest, net of forfeitures (in dollars per share) 5.10  
Options exercisable, end of period (in dollars per share) $ 5.14  
Weighted average Remaining Contractual Life    
Options outstanding 4 years 4 months 2 days 5 years 29 days
Options vested and unvested options expected to vest, net of forfeitures, end of period 4 years 4 months 2 days  
Option exercisable, end of period 4 years 3 months 21 days  
Aggregate Intrinsic Value    
Options outstanding, beginning of period $ 630,000  
Options outstanding, end of period 14,000 $ 630,000
Options vested and expected to vest, end of period 14,000  
Options exercisable, end of period $ 14,000  
Closing price (in dollars per share) $ 2.40