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Stockholders' Equity - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation expense $ 2,027,000 $ 2,078,000
Number of shares authorized (in shares) 6,080,000  
Number of additional shares authorized (in shares) 1,280,000  
Acquisition of treasury stock (in shares) 0 23,000
Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation expense $ 710,000 $ 774,000
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) 1,453,000  
Dividend yield 0.00% 0.00%
Weighted-average fair value (in dollars per share) $ 2.23 $ 4.06
Stock options, total intrinsic value of options exercised $ 0 $ 542,000
Unrecognized compensation expense $ 1,174,000  
Weighted-average period of recognition 2 years 4 months 2 days  
Cash received under stock option plans for exercises $ 0 2,480,000
Employee stock purchase plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation expense $ 7,000 $ 34,000
Number of shares available for future grants (in shares) 735,000  
Shares issued (in shares) 27,000 17,000
Employee stock purchase plan, discount percentage attributable to compensation expense 15.00%  
Cash received under the employee stock purchase plan $ 110,000 $ 124,000
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%  
Restricted stock    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation expense $ 1,310,000 $ 1,270,000
Stock award, vesting period 4 years  
Unrecognized compensation expense $ 1,609,000  
Weighted-average period of recognition 2 years 14 days  
Granted (in shares) 207,000 217,000
Weighted-average grant-date fair value (in dollars per share) $ 4.82 $ 9.49
ESPP Plan | Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation expense $ 2,019,000 $ 2,044,000
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%