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Shareholders' Equity - Shareholders' Equity (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Balance, beginning of period     $ 49,814  
Foreign currency translation adjustment $ (10) $ (8) (22) $ (42)
Net loss (1,586) (1,937) (3,241) (3,784)
Balance, end of period 46,618 40,719 46,618 40,719
Common stock and additional paid-in capital [Member]        
Balance, beginning of period 63,413 58,577 63,378 58,537
Share-based compensation expense 34 17 65 54
Proceeds from employee stock purchase plan 3 3 7 6
Balance, end of period 63,450 58,597 63,450 58,597
Accumulated other comprehensive loss [Member]        
Balance, beginning of period (200) (233) (186) (176)
Unrealized loss on available-for-sale securities, net of tax (3) 30 (5) 7
Foreign currency translation adjustment (10) (8) (22) (42)
Balance, end of period (213) (211) (213) (211)
Accumulated deficit [Member]        
Balance, beginning of period (15,033) (15,730) (13,378) (13,883)
Net loss (1,586) (1,937) (3,241) (3,784)
Balance, end of period $ (16,619) $ (17,667) $ (16,619) $ (17,667)