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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2022
Share-Based Payment Arrangement, Noncash Expense [Abstract]  
Schedule of weighted-average assumptions used to value options as of their grant date The weighted-average assumptions used to value options as of their grant date were as follows:
 Year Ended
December 31,
 20222021
Risk-free interest rate3.02 %0.92 %
Expected volatility43.19 %44.98 %
Expected life (in years)4.244.28
Dividend yield0 %0 %
Schedule of share-based compensation, stock options, activity
The changes in outstanding stock options for the year ended December 31, 2022 and 2021 are as follows:
 
Number of OptionsWeighted Average
Exercise Price		Weighted Average
Remaining
Contractual Life
(in Years)		Aggregate Intrinsic
Value
Outstanding at December 31, 2021
2,127 $9.93 
Granted414 $8.12 
Exercised(307)$8.05 
Expired, canceled or forfeited(483)$10.14 
Outstanding at December 31, 2022
1,751 $9.77 2.19$1,948 
Exercisable at December 31, 2022
939 $9.98 1.65$814 
Options vested or expected to vest at December 31, 2022
1,751 $9.77 2.19$1,948 
Number of OptionsWeighted Average
Exercise Price		Weighted Average
Remaining
Contractual Life
(in Years)		Aggregate Intrinsic
Value
Outstanding at December 31, 2020
2,034 $9.25 
Granted497 $12.68 
Exercised(274)$9.86 
Expired, canceled or forfeited(130)$9.96 
Outstanding at December 31, 2021
2,127 $9.93 2.68$931 
Exercisable at December 31, 2021
858 $9.41 1.65$453 
Options vested or expected to vest at December 31, 2021
2,127 $9.93 2.68$931 
Schedule of share-based compensation, restricted stock and restricted stock units activity
Restricted stock activity under the 2006 Plan and the 2016 Plan for 2022 is as follows:
 
Number of
Shares		Weighted-
average
grant date
fair value
Outstanding at December 31, 2021, unvested
489 $10.19 
Granted249 8.51 
Vested(311)9.93 
Forfeited(101)9.72 
Outstanding at December 31, 2022, unvested
326 $9.30 
Schedule of share-based compensation, activity
The following presents stock-based compensation expense, including expense for the ESPP, in the Company's consolidated statements of operations for the years ended December 31, 2022 and 2021.
20222021
Cost of product sales$415 $271 
Cost of service sales11 10 
Research and development837 644 
Sales, marketing and support362 898 
General and administrative1,799 2,286 
$3,424 $4,109 
Schedule of accumulated other comprehensive income (loss) The components of the Company’s comprehensive income (loss) and the effect on earnings for the periods presented are detailed in the accompanying consolidated statements of comprehensive income (loss).
     
Foreign Currency TranslationUnrealized Loss on Available for Sale Marketable SecuritiesTotal Accumulated Other Comprehensive Loss
Balance, December 31, 2020
$(3,232)$— $(3,232)
Other comprehensive loss(177)— (177)
Net other comprehensive loss(177)— (177)
Balance, December 31, 2021
(3,409)— (3,409)
Other comprehensive loss(689)(12)(701)
Net other comprehensive loss(689)(12)(701)
Balance, December 31, 2022
$(4,098)$(12)$(4,110)