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Computation of Earnings per Share - Schedule of Net loss per share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]                
Net income (loss) $ 1,144 $ (2,651) $ (1,568) $ 2,599 $ (1,289) $ (1,278) $ (3,075) $ 31
Shares outstanding:                
Weighted-average common shares outstanding (in shares) 21,049     21,725     21,017 21,674
Additional dilutive common stock equivalents (in shares) 82     73       59
Diluted shares outstanding (in shares) 21,131     21,798     21,017 21,733
Net income (loss) per share - basic $ 0.05     $ 0.12     $ (0.15) $ 0
Net income (loss) per share - diluted $ 0.05     $ 0.12     $ (0.15) $ 0