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Stock incentive plans, Stock options (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
Remaining Term [Abstract] |  |  |
Unrecognized compensation cost related to stock options |  | $ 4,100 |
Weighted average period to recognize compensation cost not yet recognized |  | 3 years 3 months 18 days |
Fair value of all awards vested |  | $ 1,300 | $ 1,600
Intrinsic value of stock options exercised |  | 3 | 40
Cash received from exercise of stock options |  | 0 | 0
Excess tax benefit in provision for income taxes |  | $ 0 | $ (13)
2005 Equity Incentive Plan and 2014 Equity Incentive Plan [Member] | Stock Options [Member] |  |  |
Number of Shares [Roll Forward] |  |  |
Outstanding, beginning of period (in shares) |  | 1,355,955 |
Granted (in shares) |  | 309,800 |
Exercised (in shares) |  | (1,875) | (17,500)
Forfeited (in shares) |  | (271,655) |
Expired (in shares) |  | (77,750) |
Outstanding, end of period (in shares) |  | 1,314,475 | 1,355,955
Options vested or expected to vest (in shares) |  | 1,314,475 |
Options exercisable, end of period (in shares) |  | 968,972 |
Weighted Average Exercise Price [Abstract] |  |  |
Outstanding, beginning of period (in dollars per share) | [1] | $ 9.08 |
Granted (in dollars per share) | [1] | 6.91 |
Exercised (in dollars per share) | [1] | 4.25 |
Forfeited (in dollars per share) | [1] | 7.72 |
Expired (in dollars per share) | [1] | 8.9 |
Outstanding, end of period (in dollars per share) | [1] | 8.82 | $ 9.08
Options vested or expected to vest (in dollars per share) | [1] | 8.82 |
Options exercisable, end of period (in dollars per share) | [1] | $ 9.31 |
Aggregate Intrinsic Value [Abstract] |  |  |
Options vested and expected to vest |  | $ 316 |
Options exercisable, end of period |  | $ 167 |
Remaining Term [Abstract] |  |  |
Options vested and expected to vest | [2] | 4 years |
Options exercisable, end of period | [2] | 2 years 2 months 12 days |
2005 Equity Incentive Plan and 2014 Equity Incentive Plan [Member] | Restricted Share Units [Member] |  |  |
Number of Shares [Roll Forward] |  |  |
Options vested or expected to vest (in shares) |  | 184,536 |
Weighted Average Exercise Price [Abstract] |  |  |
Options vested or expected to vest (in dollars per share) | [1] | $ 0 |
Number of Units [Roll Forward] |  |  |
Outstanding, beginning of period (in shares) |  | 214,286 |
Granted (in shares) |  | 210,100 |
Exercised (in shares) |  | (58,705) |
Forfeited (in shares) |  | (181,145) |
Expired (in shares) |  | 0 |
Outstanding, end of period (in shares) |  | 184,536 | 214,286
Weighted Average Grant Stock Price [Abstract] |  |  |
Outstanding, beginning of period (in dollars per share) | [3] | $ 9.28 |
Granted (in dollars per share) | [3] | 7.21 |
Exercised (in dollars per share) | [3] | 9.55 |
Forfeited (in dollars per share) | [3] | 8.34 |
Expired (in dollars per share) | [3] | 0 |
Outstanding, end of period (in dollars per share) | [3] | $ 7.76 | $ 9.28
Aggregate Intrinsic Value [Abstract] |  |  |
Restricted stock units vested and expected to vest |  | $ 1,288 |
Remaining Term [Abstract] |  |  |
Restricted stock units vested and expected to vest | [2] | 2 years 8 months 12 days |
[1] | weighted average exercise price per share
[2] | weighted-average contractual remaining term in years
[3] | weighted average grant stock price per share

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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(04) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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