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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement, Noncash Expense [Abstract] |
Schedule of weighted-average assumptions used to value options as of their grant date | The weighted-average assumptions used to value options as of their grant date were as follows:
| Year Ended December 31,
| 2023 |  | 2022
Risk-free interest rate | 4.49 | % |  | 3.02 | %
Expected volatility | 43.93 | % |  | 43.19 | %
Expected life (in years) | 4.30 |  | 4.24
Dividend yield | 0 | % |  | 0 | %
Schedule of share-based compensation, stock options, activity | The changes in outstanding stock options for the year ended December 31, 2023 and 2022 are as follows:
| Number of Options |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in Years) |  | Aggregate Intrinsic Value
Outstanding at December 31, 2022 | 1,751 |  |  | $ | 9.77 |  |  |  |  |
Granted | 317 |  |  | $ | 9.81 |  |  |  |  |
Exercised | (274) |  |  | $ | 9.07 |  |  |  |  |
Expired, canceled or forfeited | (564) |  |  | $ | 10.58 |  |  |  |  |
Outstanding at December 31, 2023 | 1,230 |  |  | $ | 9.57 |  |  | 2.67 |  | $ | — |
Exercisable at December 31, 2023 | 510 |  |  | $ | 9.56 |  |  | 1.63 |  | $ | — |
Options vested or expected to vest at December 31, 2023 | 1,230 |  |  | $ | 9.57 |  |  | 2.67 |  | $ | — |
| Number of Options |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in Years) |  | Aggregate Intrinsic Value
Outstanding at December 31, 2021 | 2,127 |  |  | $ | 9.93 |  |  |  |  |
Granted | 414 |  |  | $ | 8.12 |  |  |  |  |
Exercised | (307) |  |  | $ | 8.05 |  |  |  |  |
Expired, canceled or forfeited | (483) |  |  | $ | 10.14 |  |  |  |  |
Outstanding at December 31, 2022 | 1,751 |  |  | $ | 9.77 |  |  | 2.19 |  | $ | 1,948 |
Exercisable at December 31, 2022 | 939 |  |  | $ | 9.98 |  |  | 1.65 |  | $ | 814 |
Options vested or expected to vest at December 31, 2022 | 1,751 |  |  | $ | 9.77 |  |  | 2.19 |  | $ | 1,948 |
Schedule of share-based compensation, restricted stock and restricted stock units activity | Restricted stock activity under the 2016 Plan for 2023 is as follows:
| Number of Shares |  | Weighted- average grant date fair value
Outstanding at December 31, 2022, unvested | 326 |  |  | $ | 9.30 |
Granted | 217 |  |  | 9.49 |
Vested | (116) |  |  | 9.21 |
Forfeited | (72) |  |  | 9.80 |
Outstanding at December 31, 2023, unvested | 355 |  |  | $ | 9.34 |
Schedule of share-based compensation, activity | The following presents stock-based compensation expense, including expense for the ESPP, in the Company's consolidated statements of operations for the years ended December 31, 2023 and 2022.
| 2023 |  | 2022
Cost of product sales | $ | 34 |  |  | $ | 415 |
Cost of service sales | 21 |  |  | 11 |
Research and development | 567 |  |  | 837 |
Sales, marketing and support | 222 |  |  | 362 |
General and administrative | 1,234 |  |  | 1,799 |
| $ | 2,078 |  |  | $ | 3,424 |
Schedule of accumulated other comprehensive income (loss) | The components of the Company’s comprehensive income (loss) and the effect on earnings for the periods presented are detailed in the accompanying consolidated statements of comprehensive income (loss).
| Foreign Currency Translation |  | Unrealized (Loss) Income on Available for Sale Marketable Securities |  |  |  | Total Accumulated Other Comprehensive Loss
Balance, December 31, 2021 | $ | (3,409) |  |  | $ | — |  |  |  |  | $ | (3,409) |
Other comprehensive loss | (689) |  |  | (12) |  |  |  |  | (701) |
Net other comprehensive loss | (689) |  |  | (12) |  |  |  |  | (701) |
Balance, December 31, 2022 | (4,098) |  |  | (12) |  |  |  |  | (4,110) |
Other comprehensive (loss) income | (87) |  |  | 12 |  |  |  |  | (75) |
Net other comprehensive (loss) income | (87) |  |  | 12 |  |  |  |  | (75) |
Balance, December 31, 2023 | $ | (4,185) |  |  | $ | — |  |  |  |  | $ | (4,185) |

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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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