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Stockholder's Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Jun. 08, 2022
Sep. 30, 2023
Jun. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Jun. 07, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based payment   $ 559   $ 1,109 $ 1,433 $ 2,695    
Proceeds from stock options exercised and employee stock purchase plan         2,604 $ 796    
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   $ 2,272     $ 2,272      
Weighted-average period of recognition         2 years 7 months 28 days      
Shares issued (in shares)   14,000     274,000      
Proceeds from stock options exercised and employee stock purchase plan   $ 113     $ 2,480      
Restricted stock surrendered (in shares)   0     0      
Stock options granted (in shares)   0     317,000 398,000    
Stock options expired (in shares)   133,000     564,000      
Stock options outstanding (in shares)   1,230,000     1,230,000      
Stock options outstanding, weighted average exercise price (in USD per share)   $ 9.57     $ 9.57      
Stock options exercisable (in shares)   510,000     510,000      
Exercisable stock options, weighted average exercise price (in USD per share)   $ 9.56     $ 9.56      
Stock Options | ESPP Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based payment   $ 558   1,103 $ 1,408 $ 2,663    
Employee Stock                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based payment   $ 1   $ 6        
Employee Stock | ESPP Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based payment         $ 25 $ 32    
Percentage of Company's common stock share price   85.00%     85.00%      
Stock options issued ESPP (in shares)   17,000   0 17,000 22,000    
Restricted Stock                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized compensation expense   $ 2,953     $ 2,953      
Weighted-average period of recognition         2 years 6 months 7 days      
Restricted stock surrendered (in shares)   0     0      
Restricted stock (in shares)   66,000     217,000      
Restricted stock, weighted average price (in USD per share)   $ 8.75     $ 9.49      
Restricted stock award, forfeitures, less than (in shares)   0     72,000      
Restricted stock vested (in shares)   7,000     101,000      
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