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Discontinued Operations - Schedule of Net Income From Discontinued Operations (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Costs and expenses:        
Net income from discontinued operations, net of tax $ 0 $ 29,741 $ 0 $ 28,061
Net income from discontinued operations per common share        
Basic (in shares) $ 0.00 $ 1.59 $ 0.00 $ 1.51
Diluted (in shares) $ 0.00 $ 1.59 $ 0.00 $ 1.51
Weighted average number of common shares outstanding:        
Basic (in shares) 19,231 18,706 19,090 18,574
Diluted (in shares) 19,231 18,706 19,090 18,574
Discontinued Operations, Disposed of by Sale        
Sales:        
Sales   $ 1,494   $ 16,721
Costs and expenses:        
Research and development   374   3,147
Sales, marketing and support   348   3,035
Other income, net   12   81
Loss from discontinued operations before income tax expense   (889)   (2,569)
Gain on sale of discontinued operations before tax expense   30,858   30,858
Total income from discontinued operations before tax expense   29,969   28,289
Income tax expense on discontinued operations   228   228
Net income from discontinued operations, net of tax   $ 29,741   $ 28,061
Net income from discontinued operations per common share        
Basic (in shares)   $ 1.59   $ 1.51
Diluted (in shares)   $ 1.59   $ 1.51
Discontinued Operations, Disposed of by Sale | Product        
Sales:        
Sales   $ 1,276   $ 16,042
Costs and expenses:        
Cost of sales   1,504   12,732
Discontinued Operations, Disposed of by Sale | Service        
Sales:        
Sales   218   679
Costs and expenses:        
Cost of sales   $ 169   $ 457