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Stockholder's Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | ---
Jun. 08, 2022 | Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021 | Jun. 07, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based payment |  | $ 1,109 | $ 1,042 | $ 2,695 | $ 3,029 |
Proceeds from stock options exercised and employee stock purchase plan |  |  |  | $ 796 | 2,846 |
Stock options exercised (in shares) |  |  |  | 301,000 |  |
Stock options cancelled (in shares) |  |  |  | 193,000 |  |
Weighted average grant date fair value (in USD per share) |  | $ 9.14 |  | $ 8.50 |  |
Stock Options |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Increase in shares authorized (in shares) | 1,280 |  |  |  |  |
Shares authorized (in shares) | 6,080 |  |  |  |  | 4,800
Share-based payment |  | $ 1,103 | 1,031 | $ 2,663 | $ 2,988 |
Unrecognized compensation expense |  | $ 2,887 |  | $ 2,887 |  |
Weighted-average period of recognition |  |  |  | 2 years 7 months 9 days |  |
Shares issued (in shares) |  | 53,000 |  | 94,000 |  |
Proceeds from stock options exercised and employee stock purchase plan |  | $ 464 |  | $ 613 |  |
Restricted stock surrendered (in shares) |  | 0 |  | 14,000 |  |
Stock options granted (in shares) |  | 0 |  | 398,000 | 496,000 |
Stock options expired (in shares) |  | 87,000 |  | 416,000 |  |
Stock options outstanding (in shares) |  | 1,808,000 |  | 1,808,000 |  |
Stock options outstanding, weighted average exercise price (in USD per share) |  | $ 9.82 |  | $ 9.82 |  |
Stock options exercisable (in shares) |  | 844,000 |  | 844,000 |  |
Exercisable stock options, weighted average exercise price (in USD per share) |  | $ 10.13 |  | $ 10.13 |  |
Stock Options | President And Chief Executive Officer |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Cost of compensation acceleration (reduction) |  |  |  | $ (85) |  |
Stock Options | Employees |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Cost of compensation acceleration (reduction) |  | $ (28) |  | (109) |  |
Stock Options | Executive Employees |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Cost of compensation acceleration (reduction) |  | 72 |  | 120 |  |
Stock Options | Transitioned Employees |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Cost of compensation acceleration (reduction) |  | 81 |  | 81 |  |
Employee Stock |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based payment |  | $ 6 | $ 11 |  |  |
Employee Stock | ESPP Plan |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based payment |  |  |  | $ 32 | $ 41 |
Percentage of Company's common stock share price |  | 85.00% |  | 85.00% |  |
Stock options issued ESPP (in shares) |  | 0 | 26,000 | 22,000 | 26,000 |
Restricted Stock |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Unrecognized compensation expense |  | $ 3,129 |  | $ 3,129 |  |
Weighted-average period of recognition |  |  |  | 2 years 5 months 8 days |  |
Restricted stock surrendered (in shares) |  | 0 |  | 0 |  |
Restricted stock (in shares) |  | 60,000 |  | 243,000 |  |
Restricted stock award, forfeitures, less than (in shares) |  | 10,000 |  | 96,000 |  |
Restricted stock vested (in shares) |  | 102,000 |  | 249,000 |  |
Restricted stock outstanding (in shares) |  | 388,000 |  | 388,000 |  |
Unvested outstanding options (in shares) |  | 0 |  | 0 |  |
Restricted Stock | President And Chief Executive Officer |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Cost of compensation acceleration (reduction) |  |  |  | $ 186 |  |
Restricted Stock | Employees |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Cost of compensation acceleration (reduction) |  | $ 31 |  | 156 |  |
Restricted Stock | Executive Employees |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Cost of compensation acceleration (reduction) |  | 99 |  | 167 |  |
Restricted Stock | Transitioned Employees |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Cost of compensation acceleration (reduction) |  | $ 374 |  | $ 374 |  |
Performance-Based or Market-Based Shares |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Unvested outstanding options (in shares) |  | 0 |  | 0 |  |

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