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Stockholder's Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended 12 Months Ended
Jun. 08, 2022
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Jun. 07, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based payment   $ 578   $ 705 $ 874 $ 1,586    
Proceeds from stock options exercised and employee stock purchase plan         2,367 $ 333    
Acquisition of treasury stock (in shares)     23,000       0  
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   $ 2,513     $ 2,513      
Weighted-average period of recognition         2 years 9 months 18 days      
Shares issued (in shares)   147,000     260,000      
Proceeds from stock options exercised and employee stock purchase plan   $ 1,345     $ 2,367      
Restricted stock surrendered (in shares)   0     0      
Stock options granted (in shares)   0     317,000 398,000    
Stock options expired (in shares)   261,000     431,000      
Stock options outstanding (in shares)   1,377,000     1,377,000      
Stock options outstanding, weighted average exercise price (in USD per share)   $ 9.55     $ 9.55      
Stock options exercisable (in shares)   565,000     565,000      
Exercisable stock options, weighted average exercise price (in USD per share)   $ 9.63     $ 9.63      
Stock Options | ESPP Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based payment   $ 566   701 $ 850 $ 1,560    
Employee Stock                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based payment   $ 12   $ 4        
Employee Stock | ESPP Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based payment         $ 24 $ 26    
Percentage of Company's common stock share price   85.00%     85.00%      
Stock options issued ESPP (in shares)   0   0 0 22,000    
Restricted Stock                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized compensation expense   $ 2,690     $ 2,690      
Weighted-average period of recognition         3 years 14 days      
Restricted stock surrendered (in shares)   0     0      
Restricted stock (in shares)   0     151,000      
Restricted stock, weighted average price (in USD per share)         $ 9.81      
Restricted stock award, forfeitures, less than (in shares)   3,000     72,000      
Restricted stock vested (in shares)   51,000     94,000      
Unvested outstanding options (in shares)   0     0      
Performance-Based or Market-Based Shares                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unvested outstanding options (in shares)   0     0