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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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