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Stockholder's Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based payment | $ 722 | $ 578 | $ 1,244 | $ 874
Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation expense | $ 1,614 |  | $ 1,614 |
Weighted-average period of recognition |  |  | 2 years 8 months 4 days |
Shares issued (in shares) | 0 |  | 0 |
Restricted stock surrendered (in shares) | 0 |  | 0 |
Stock options granted (in shares) | 0 |  | 266,000 | 317,000
Stock options expired (in shares) | 257,000 |  | 271,000 |
Stock options outstanding (in shares) | 1,225,000 |  | 1,225,000 |
Stock options outstanding, weighted average exercise price (in USD per share) | $ 8.64 |  | $ 8.64 |
Stock options exercisable (in shares) | 599,000 |  | 599,000 |
Exercisable stock options, weighted average exercise price (in USD per share) | $ 9.84 |  | $ 9.84 |
Stock Options | ESPP Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based payment | $ 721 | 566 | $ 1,238 | $ 850
Employee Stock | ESPP Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based payment | $ 1 | $ 12 | $ 6 | $ 24
Percentage of Company's common stock share price | 85.00% |  | 85.00% |
Stock options issued ESPP (in shares) | 0 | 0 | 24,000 | 0
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation expense | $ 1,881 |  | $ 1,881 |
Weighted-average period of recognition |  |  | 2 years 9 months 3 days |
Restricted stock (in shares) | 0 |  | 122,000 |
Restricted stock award, forfeitures, less than (in shares) | 35,000 |  | 43,000 |
Restricted stock vested (in shares) | 76,000 |  | 142,000 |
Restricted stock, weighted average price (in USD per share) |  |  | $ 5.03 |
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 |

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