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Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 3,424 | $ 4,109
Number of shares authorized (in shares) | 6,080,000 |
Number of additional shares authorized (in shares) | 1,280,000 |
Exercised (in shares) | (307,000) | (274,000)
Common stock issued (in shares) | 100,000 |
Shares withheld for tax withholding obligation (in shares) | 14,000 |
Shares canceled (in shares) | 193,000 |
Stock options |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 1,023 | $ 1,740
Stock award, vesting period | 4 years |
Stock award, exercise period | 5 years |
Awards other than options, decrease in number of shares reserved for issuance (in shares) | 2 |
Common stock, shares reserved for issuance (in shares) | 15,495,000 |
Number of shares available for future grants (in shares) | 1,513,000 |
Dividend yield | 0.00% | 0.00%
Weighted-average fair value (in dollars per share) | $ 3.13 | $ 4.70
Stock options, total intrinsic value of options exercised | $ 387 | $ 914
Unrecognized compensation expense | $ 2,525 |
Weighted-average period of recognition | 2 years 5 months 4 days |
Cash received under stock option plans for exercises | $ 664 | 2,709
Stock options | President And Chief Executive Officer |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Share-based compensation | (317) |
Stock options | Employees |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Share-based compensation | (26) |
Stock options | Executive Employees |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Share-based compensation | 182 |
Stock options | Transitioned Employees |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Share-based compensation | 46 |
Restricted stock |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 2,297 | $ 2,313
Stock award, vesting period | 4 years |
Unrecognized compensation expense | $ 2,656 |
Weighted-average period of recognition | 2 years 3 months 10 days |
Granted (in shares) | 249,000 | 217,000
Weighted-average grant-date fair value (in dollars per share) | $ 8.51 | $ 12.23
Restricted stock | President And Chief Executive Officer |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Share-based compensation | $ 83 |
Restricted stock | Employees |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Share-based compensation | 134 |
Restricted stock | Executive Employees |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Share-based compensation | 189 |
Restricted stock | Transitioned Employees |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Share-based compensation | 287 |
Employee stock purchase plan |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 104 | $ 56
Number of shares available for future grants (in shares) | 780,000 |
Shares issued (in shares) | 41,000 | 26,000
Employee stock purchase plan, discount percentage attributable to compensation expense | 15.00% |
Cash received under the employee stock purchase plan | $ 308 | $ 230
Employee stock purchase plan | Maximum |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Employee election percentage of pre-tax compensation withheld to purchase Company's common stock shares | 6.00% |
ESPP Plan | Stock options |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 3,320 | $ 4,053
ESPP Plan | Employee stock purchase plan |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Number of shares authorized (in shares) | 1,650,000 |
Percentage of Company's common stock share price | 85.00% |

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