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Condensed Consolidated Statements of Stockholders' Deficit - USD ($)
shares in Thousands, $ in Thousands
Total
Preferred Stock
Common Stock
Additional Paid-in Capital
 [1]
Accumulated Deficit
Accumulated Other Comprehensive Income (Loss)
Beginning balance (shares) at Dec. 31, 2022   25 10,847 [1]      
Beginning balance at Dec. 31, 2022 $ (70,117) $ 0 $ 11 [1] $ 793,952 $ (857,751) $ (6,329)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Net loss (5,104)       (5,104)  
Foreign currency translation adjustment 94         94
Exercise of stock options, vesting of restricted stock units and stock issued under employee stock purchase plan (shares) [1]     4      
Vesting of restricted stock units and stock issued under employee stock purchase plan, net of taxes withheld 75     75    
Issuance of common shares in connection with a public offering, net of issuance costs (shares)     86      
Issuance of common shares in connection with a public offering, net of issuance costs 529     529    
Share-based compensation 1,800     1,800    
Series E preferred stock dividends 0     723 (723)  
Ending balance (shares) at Mar. 31, 2023   25 10,937 [1]      
Ending balance at Mar. 31, 2023 (72,723) $ 0 $ 11 [1] 797,079 (863,578) (6,235)
Beginning balance (shares) at Dec. 31, 2023   25 11,879 [1]      
Beginning balance at Dec. 31, 2023 (102,105) $ 0 $ 12 [1] 810,138 (906,928) (5,327)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Net loss (4,455)       (4,455)  
Foreign currency translation adjustment 262         262
Exercise of stock options, vesting of restricted stock units and stock issued under employee stock purchase plan (shares) [1]     4      
Vesting of restricted stock units and stock issued under employee stock purchase plan, net of taxes withheld (8)     (8)    
Share-based compensation 717     717    
Series E preferred stock dividends 0     790 (790)  
Ending balance (shares) at Mar. 31, 2024   25 11,883 [1]      
Ending balance at Mar. 31, 2024 $ (105,589) $ 0 $ 12 [1] $ 811,637 $ (912,173) $ (5,065)
[1] Adjusted retroactively for reverse stock split that occurred on January 24, 2024, see Note 1