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Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 2,078 | $ 3,424
Number of shares authorized (in shares) | 6,080,000 |
Number of additional shares authorized (in shares) | 1,280,000 |
Exercised (in shares) | (274,000) | (307,000)
Acquisition of treasury stock (in shares) | 23,000 | 0
Stock options |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 774 | $ 1,023
Stock award, vesting period | 4 years |
Stock award, exercise period | 5 years |
Awards other than options, decrease in number of shares reserved for issuance (in shares) | 2 |
Common stock, shares reserved for issuance (in shares) | 15,495,000 |
Number of shares available for future grants (in shares) | 1,469,000 |
Dividend yield | 0.00% | 0.00%
Weighted-average fair value (in dollars per share) | $ 4.06 | $ 3.13
Stock options, total intrinsic value of options exercised | $ 542 | $ 387
Unrecognized compensation expense | $ 2,023 |
Weighted-average period of recognition | 2 years 4 months 28 days |
Cash received under stock option plans for exercises | $ 2,480 | 664
Restricted stock |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 1,270 | $ 2,297
Stock award, vesting period | 4 years |
Unrecognized compensation expense | $ 2,567 |
Weighted-average period of recognition | 2 years 4 months 2 days |
Granted (in shares) | 217,000 | 249,000
Weighted-average grant-date fair value (in dollars per share) | $ 9.49 | $ 8.51
Employee stock purchase plan |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 34 | $ 104
Number of shares available for future grants (in shares) | 763,000 |
Shares issued (in shares) | 17,000 | 41,000
Employee stock purchase plan, discount percentage attributable to compensation expense | 15.00% |
Cash received under the employee stock purchase plan | $ 124 | $ 308
Employee stock purchase plan | Maximum |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Employee election percentage of pre-tax compensation withheld to purchase Company's common stock shares | 6.00% |
ESPP Plan | Stock options |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 2,044 | $ 3,320
ESPP Plan | Employee stock purchase plan |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Number of shares authorized (in shares) | 1,650,000 |
Percentage of Company's common stock share price | 85.00% |

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