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Share-Based Payments (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Sep. 12, 2021
Sep. 13, 2020
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 12, 2016
Share-Based Payments            
Number of options, outstanding     607,810 488,477 831,071  
Share based compensation recognized     $ 106 $ 112    
Tax benefit from compensation cost     27 $ 28    
Total compensation cost related to stock options not yet recognized     $ 157      
Compensation cost related to stock options expected to be recognized (in years)     2 years 3 months 25 days      
Number of shares available for grant     160,000      
Common stock, par value (in dollars per share)     $ 0.001 $ 0.001    
Directors and officers            
Share-Based Payments            
Options vesting period (years)     3 years      
Other employees            
Share-Based Payments            
Options vesting period (years)     4 years      
Securities Purchase Agreement | Common Stock            
Share-Based Payments            
Number fo shares were agreed to issue and sell in a registered direct offering 3,623,189 2,116,050        
Common stock, par value (in dollars per share) $ 0.001 $ 0.001        
Offering price (Per share) $ 2.76 $ 2.4925        
Proceeds from issuance of common stock, gross $ 10,000 $ 5,275        
Proceeds from issuance of common stock, net of issuance costs $ 9,288 $ 4,764        
Common stock shares issued 3,623,189 1,058,025        
Exercise price of warrants $ 2.64 $ 2.43        
Expiry term of warrants   5 years        
2007 Equity Incentive Plan            
Share-Based Payments            
Number of shares authorized           2,000,000
Number of options, outstanding     607,810      
Number of authorized unissued options     857,044      
Number of shares issued     1      
2007 Equity Incentive Plan | Minimum            
Share-Based Payments            
Options vesting period (years)     3 years      
2007 Equity Incentive Plan | Maximum            
Share-Based Payments            
Options vesting period (years)     4 years      
Employee Stock Purchase Plan            
Share-Based Payments            
Number of shares authorized     500,000      
Stock options, expiration period (years)     10 years      
Number of options, outstanding     217,810      
Number of shares available for grant     382,143 395,524    
Percentage of voting rights     5.00%      
Shares purchased under ESPP plan     13,381 7,180    
Purchase price of common stock, percentage     85.00%      
Discount on purchase price of common stock, percentage     15.00%      
Employee Stock Purchase Plan | Maximum            
Share-Based Payments            
Shares purchased under ESPP plan     2,500      
Proceeds from employee stock purchase plan     $ 25      
Employee Stock Purchase Plan, Two            
Share-Based Payments            
Stock options, expiration period (years)     6 years      
Number of options, outstanding     390,000