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Stockholder's Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 3 Months Ended |
--- | --- | --- | ---
Jun. 08, 2022 | Mar. 31, 2023 | Mar. 31, 2022 | Jun. 07, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based payment |  | $ 296 | $ 881 |
Proceeds from stock options exercised and employee stock purchase plan |  | $ 1,022 | 183 |
Acquisition of treasury stock (in shares) |  | 23 |  |
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
Unrecognized compensation expense |  | $ 2,753 |  |
Weighted-average period of recognition |  | 3 years 3 days |  |
Shares issued (in shares) |  | 113,000 |  |
Proceeds from stock options exercised and employee stock purchase plan |  | $ 1,022 |  |
Restricted stock surrendered (in shares) |  | 0 |  |
Stock options granted (in shares) |  | 317,000 |  |
Stock options expired (in shares) |  | 170,000 |  |
Stock options outstanding (in shares) |  | 1,784,000 |  |
Stock options outstanding, weighted average exercise price (in USD per share) |  | $ 9.80 |  |
Stock options exercisable (in shares) |  | 905,000 |  |
Exercisable stock options, weighted average exercise price (in USD per share) |  | $ 10.18 |  |
Stock Options | ESPP Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based payment |  | $ 284 | 859 |
Employee Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based payment |  | 12 | 22 |
Employee Stock | ESPP Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based payment |  | $ 12 | $ 22 |
Percentage of Company's common stock share price |  | 85.00% |  |
Stock options issued ESPP (in shares) |  | 0 | 22,000 |
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation expense |  | $ 3,115 |  |
Weighted-average period of recognition |  | 3 years 10 days |  |
Restricted stock surrendered (in shares) |  | 0 |  |
Restricted stock (in shares) |  | 151,000 |  |
Restricted stock, weighted average price (in USD per share) |  | $ 9.81 |  |
Restricted stock award, forfeitures, less than (in shares) |  | 69,000 |  |
Restricted stock vested (in shares) |  | 43,000 |  |
Unvested outstanding options (in shares) |  | 0 |  |
Performance-Based or Market-Based Shares |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unvested outstanding options (in shares) |  | 0 |  |

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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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