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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