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Stockholders' Equity - Narrative (Details) - USD ($) |  |  |  |  |  |  |  |  |  |  |  |  | 2 Months Ended | 12 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Apr. 06, 2023 | Mar. 15, 2023 | Jan. 26, 2023 | Jan. 12, 2023 | Oct. 04, 2022 | Jul. 26, 2022 | Jun. 03, 2022 | May 09, 2022 | Feb. 14, 2022 | May 20, 2021 | Dec. 12, 2019 | Apr. 12, 2018 | Sep. 30, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Jun. 16, 2023 | Jan. 27, 2023 | Jan. 03, 2023 | May 19, 2022
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock, authorized (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 50,000,000 | 50,000,000 |  |  |  |
Common stock, par or stated value (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.0005 | $ 0.0005 |  |  | $ 0.0005 |
Preferred stock, authorized (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,000,000 | 1,000,000 |  |  |  |
Preferred stock, par or stated value (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.0005 | $ 0.0005 |  |  |  |
Preferred stock, issued (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 0 |  |  |  |
Dividends declared |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 |  |  |  |  |
Special cash dividend (in dollars per share) |  |  |  |  |  |  |  | $ 0.30 | $ 0.30 |  |  |  |  |  |  |  |  |  |
Payment to stockholders |  |  |  |  |  |  |  | $ 4,700,000 | $ 4,600,000 |  |  |  |  |  |  |  |  |  |
Authorized amount |  | $ 6,000,000 |  |  |  | $ 6,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Stock repurchase program, term (in months) |  | 9 months |  |  |  | 6 months |  |  |  |  |  |  |  |  |  |  |  |  |
Stock repurchased (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 69,628 | 303,145 |  |  |  |
Stock repurchased |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 588,000 | $ 2,152,000 |  |  |  |
Number of shares options granted (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,135,000 | 1,095,000 |  |  |  |
Number of shares, exercised (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,348,000 | 1,833,000 |  |  |  |
Vesting period (in years) |  |  |  | 5 years |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Closing stock price (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 4.52 | $ 9.63 |  |  |  |
Number of shares, forfeited (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 788,000 | 420,000 |  |  |  |
Cash payment for repurchase |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 5,379,000 | $ 7,474,000 |  |  |  |
Treasury stock repurchased (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 603,881 |  |  |  |  |
Fair value of stock options granted |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 4,200,000 | $ 6,100,000 |  |  |  |
Exercise price (in dollars per share) |  |  |  | $ 10.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Estimated fair value of options at date of grant |  |  |  | $ 300,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expected stock price volatility |  |  |  |  |  |  |  |  |  |  |  |  |  | 80.00% | 79.00% |  |  |  |
Risk-free rate of interest |  |  |  |  |  |  |  |  |  |  |  |  |  | 3.70% | 2.50% |  |  |  |
Expected term (years) |  |  |  |  |  |  |  |  |  |  |  |  |  | 4 years 8 months 12 days | 4 years 6 months |  |  |  |
Warrants outstanding, term (in years) |  |  |  |  |  |  |  |  |  |  |  |  |  | 1 year |  |  | 5 years |  |
Proceeds from exercise of warrants |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,200,000 | $ 1,200,000 | $ 0 |  |  |  |
Exercise price (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  | $ 3.00 |  |  |  |  |  |
Warrant fair value |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 |  |  |  |
Share-based compensation expense |  |  |  |  |  |  |  |  |  |  |  |  |  | 3,500,000 |  |  |  |  |
Share-based compensation, nonvested award, cost not yet recognized, amount |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 5,100,000 |  |  |  |  |
Weighted average period (in years) |  |  |  |  |  |  |  |  |  |  |  |  |  | 4 years 3 months 18 days |  |  |  |  |
Certain Holders |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares, forfeited (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 744,369 |  |  |  |  |
2023 Notes Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants (in shares) |  |  | 76,000 |  |  |  |  |  |  |  |  |  |  |  |  |  | 76,000 |  |
Exercise price (in dollars per share) |  |  | $ 9.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expected stock price volatility |  |  | 81.50% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Risk-free rate of interest |  |  | 3.62% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants outstanding, term (in years) |  |  | 5 years |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrant, fair value |  |  | $ 400,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock repurchased (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 69,628 | 303,145 |  |  |  |
Number of shares, exercised (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 603,881 | 828,021 |  |  |  |
Shares issued (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 828,021 |  |  |  |
Shares withheld for tax withholding obligation (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,103,000 |  |  |  |
Issuance of common stock upon exercise of warrant (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 400,000 |  |  |  |  |
Warrant |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants (in shares) | 250,000 |  |  | 50,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price (in dollars per share) | $ 9.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expected stock price volatility | 80.40% |  |  | 80.90% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Risk-free rate of interest | 3.60% |  |  | 3.50% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expected term (years) | 5 years |  |  | 5 years |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants outstanding, term (in years) | 5 years |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrant, fair value | $ 1,400,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon exercise of warrant (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 400,000 |  |  |  |  |  |
Inducement Option Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price, lower range (in dollars per share) |  |  |  |  |  |  |  | $ 6.74 |  |  |  |  |  |  |  |  |  |  |
Inducement Option Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Inducement award (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 250,000 |  |  |  |
Award expiration period (in years) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 7 years |  |  |  |
Inducement Option Award | First Installment |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting rights (as a percent) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 50.00% |  |  |  |
Inducement Option Award | Second Installment |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting rights (as a percent) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 25.00% |  |  |  |
Vesting period (in years) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2 years |  |  |  |
Inducement Option Award | Third Installment |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting rights (as a percent) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 25.00% |  |  |  |
Vesting period (in years) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2 years |  |  |  |
Inducement Option Award | Fourth Installment |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting rights (as a percent) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 25.00% |  |  |  |
Vesting period (in years) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2 years |  |  |  |
Inducement Option Award | Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares issued (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 13.00 |  |  |  |
CFO Award | Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price, upper range (in dollars per share) |  |  |  |  |  |  |  |  |  |  | $ 6.74 |  |  |  |  |  |  |  |
CFO Award | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price, upper range (in dollars per share) |  |  |  |  |  |  |  |  |  |  | $ 6.44 |  |  |  |  |  |  |  |
Mr. Kamal Obbad | Inducement Option Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares authorized (in shares) |  |  |  |  |  |  |  | 400,000 |  |  |  |  |  |  |  |  |  |  |
2022 Directors Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Future issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 210,000 |  |  |  |  | 300,000
Number of shares options granted (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 120,000 | 120,000 |  |  |  |
Amended 2022 Directors' Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Increase in shares for issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 150,000 |  |  |
Amended 2010 Directors' Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares authorized (in shares) |  |  |  |  |  |  |  |  |  | 775,000 |  |  |  |  |  |  |  |  |
Amended 2022 Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Increase in shares for issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 700,000 |  |  |
2022 Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Future issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,093,285 |  |  |  |  |
Increase in shares for issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,000,000
Amended 2010 Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock issued (in shares) |  |  |  |  |  |  |  |  |  | 4,900,000 |  |  |  |  |  |  |  |  |
2018 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares, exercised (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,100,000 | 1,200,000 |  |  |  |
2018 Stock Incentive Plan | CEO Options |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price, lower range (in dollars per share) |  |  |  |  |  |  | $ 0.60 |  |  |  |  |  |  |  |  |  |  |  |
2018 Stock Incentive Plan | Chief Executive Officer |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares options granted (in shares) |  |  |  |  |  |  |  |  |  |  |  | 2,300,000 |  |  |  |  |  |  |
Shares issued (in shares) |  |  |  |  |  |  |  |  |  |  |  | 2,300,000 |  |  |  |  |  |  |
2018 Stock Incentive Plan | Chief Financial Officer | CFO Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Offsetting Assets [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Special cash dividend (in dollars per share) |  |  |  |  |  |  | $ 0.30 |  |  |  |  |  |  |  |  |  |  |  |
Inducement award amount |  |  |  |  |  |  | $ 1,600,000 |  |  |  |  |  |  |  |  |  |  |  |
Reversal of stock based compensation expense |  |  |  |  | $ 149,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |

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