Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Total		Common Stock	Additional Paid-in Capital	Retained Earnings (Accumulated Deficit)	Accumulated Other Comprehensive Loss	Treasury Stock
Beginning balance (in shares) at Dec. 31, 2019			19,399,000
Beginning balance at Dec. 31, 2019	$ 149,989		$ 194	$ 144,485	$ 19,538	$ (2,767)	$ (11,461)
Beginning balance, treasury stock (in shares) at Dec. 31, 2019							(1,397,000)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income (loss)	(10,303)				(10,303)
Other comprehensive income (loss)	(1,508)	[1]				(1,508)
Stock-based compensation	2,459			2,459
Issuance of common stock under employee stock purchase plan (in shares)			20,000
Issuance of common stock under employee stock purchase plan	156			156
Acquisition of treasury stock (in shares)							(36,000)
Acquisition of treasury stock	(390)						$ (390)
Exercise of stock options and issuance of restricted stock awards, net of forfeitures (in shares)			316,000
Exercise of stock options and issuance of restricted stock awards, net of forfeitures	49		$ 3	46
Ending balance (in shares) at Sep. 30, 2020			19,735,000
Ending balance at Sep. 30, 2020	140,452		$ 197	147,146	9,235	(4,275)	$ (11,851)
Ending balance, treasury stock (in shares) at Sep. 30, 2020							(1,433,000)
Beginning balance (in shares) at Jun. 30, 2020			19,445,000
Beginning balance at Jun. 30, 2020	138,988		$ 194	146,250	9,772	(5,377)	$ (11,851)
Beginning balance, treasury stock (in shares) at Jun. 30, 2020							(1,433,000)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income (loss)	(537)				(537)
Other comprehensive income (loss)	1,102	[1]				1,102
Stock-based compensation	912			912
Exercise of stock options and issuance of restricted stock awards, net of forfeitures (in shares)			290,000
Exercise of stock options and issuance of restricted stock awards, net of forfeitures	(13)		$ 3	(16)
Ending balance (in shares) at Sep. 30, 2020			19,735,000
Ending balance at Sep. 30, 2020	$ 140,452		$ 197	147,146	9,235	(4,275)	$ (11,851)
Ending balance, treasury stock (in shares) at Sep. 30, 2020							(1,433,000)
Beginning balance (in shares) at Dec. 31, 2020	18,429,840		19,863,000
Beginning balance at Dec. 31, 2020	$ 131,884		$ 199	149,170	(2,402)	(3,232)	$ (11,851)
Beginning balance, treasury stock (in shares) at Dec. 31, 2020	(1,432,694)						(1,433,000)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income (loss)	$ (5,683)				(5,683)
Other comprehensive income (loss)	(106)	[1]				(106)
Stock-based compensation	3,029			3,029
Issuance of common stock under employee stock purchase plan (in shares)			26,000
Issuance of common stock under employee stock purchase plan	231			231
Exercise of stock options and issuance of restricted stock awards, net of forfeitures (in shares)			443,000
Exercise of stock options and issuance of restricted stock awards, net of forfeitures	$ 2,615		$ 4	2,611
Ending balance (in shares) at Sep. 30, 2021	18,899,082		20,332,000
Ending balance at Sep. 30, 2021	$ 131,970		$ 203	155,041	(8,085)	(3,338)	$ (11,851)
Ending balance, treasury stock (in shares) at Sep. 30, 2021	(1,432,694)						(1,433,000)
Beginning balance (in shares) at Jun. 30, 2021			20,245,000
Beginning balance at Jun. 30, 2021	$ 126,876		$ 202	153,596	(12,103)	(2,968)	$ (11,851)
Beginning balance, treasury stock (in shares) at Jun. 30, 2021							(1,433,000)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income (loss)	4,018				4,018
Other comprehensive income (loss)	(370)	[1]				(370)
Stock-based compensation	1,042			1,042
Issuance of common stock under employee stock purchase plan (in shares)			26,000
Issuance of common stock under employee stock purchase plan	231			231
Exercise of stock options and issuance of restricted stock awards, net of forfeitures (in shares)			61,000
Exercise of stock options and issuance of restricted stock awards, net of forfeitures	$ 173		$ 1	172
Ending balance (in shares) at Sep. 30, 2021	18,899,082		20,332,000
Ending balance at Sep. 30, 2021	$ 131,970		$ 203	$ 155,041	$ (8,085)	$ (3,338)	$ (11,851)
Ending balance, treasury stock (in shares) at Sep. 30, 2021	(1,432,694)						(1,433,000)

[1] Tax impact was nominal for all periods.