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Shareholders' Equity - Shareholders' Equity (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Balance, beginning of period $ 74,130  
Foreign currency translation adjustment 5 $ (11)
Net loss (832) (1,967)
Balance, end of period 73,326 51,536
Common stock and additional paid-in capital [Member]    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Balance, beginning of period 74,934 72,818
Issuance of common stock and warrants, net 0 2,000
Share-based compensation expense 22 35
Proceeds from employee stock purchase plan 1 2
Balance, end of period 74,957 74,855
Accumulated other comprehensive loss [Member]    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Balance, beginning of period (288) (241)
Unrealized loss on available-for-sale securities, net of tax 0 (28)
Foreign currency translation adjustment 5 (11)
Balance, end of period (283) (280)
Accumulated deficit [Member]    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Balance, beginning of period (516) (21,072)
Net loss (832) (1,967)
Balance, end of period $ (1,348) $ (23,039)