Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 3,424	$ 4,109
Number of shares authorized (in shares)	6,080,000
Number of additional shares authorized (in shares)	1,280,000
Exercised (in shares)	(307,000)	(274,000)
Common stock issued (in shares)	100,000
Shares withheld for tax withholding obligation (in shares)	14,000
Shares canceled (in shares)	193,000
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 1,023	$ 1,740
Stock award, vesting period	4 years
Stock award, exercise period	5 years
Awards other than options, decrease in number of shares reserved for issuance (in shares)	2
Common stock, shares reserved for issuance (in shares)	15,495,000
Number of shares available for future grants (in shares)	1,513,000
Dividend yield	0.00%	0.00%
Weighted-average fair value (in dollars per share)	$ 3.13	$ 4.70
Stock options, total intrinsic value of options exercised	$ 387	$ 914
Unrecognized compensation expense	$ 2,525
Weighted-average period of recognition	2 years 5 months 4 days
Cash received under stock option plans for exercises	$ 664	2,709
Stock options \| President And Chief Executive Officer
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation	(317)
Stock options \| Employees
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation	(26)
Stock options \| Executive Employees
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation	182
Stock options \| Transitioned Employees
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation	46
Restricted stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 2,297	$ 2,313
Stock award, vesting period	4 years
Unrecognized compensation expense	$ 2,656
Weighted-average period of recognition	2 years 3 months 10 days
Granted (in shares)	249,000	217,000
Weighted-average grant-date fair value (in dollars per share)	$ 8.51	$ 12.23
Restricted stock \| President And Chief Executive Officer
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation	$ 83
Restricted stock \| Employees
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation	134
Restricted stock \| Executive Employees
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation	189
Restricted stock \| Transitioned Employees
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation	287
Employee stock purchase plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 104	$ 56
Number of shares available for future grants (in shares)	780,000
Shares issued (in shares)	41,000	26,000
Employee stock purchase plan, discount percentage attributable to compensation expense	15.00%
Cash received under the employee stock purchase plan	$ 308	$ 230
Employee stock purchase plan \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Employee election percentage of pre-tax compensation withheld to purchase Company's common stock shares	6.00%
ESPP Plan \| Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 3,320	$ 4,053
ESPP Plan \| Employee stock purchase plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized (in shares)	1,650,000
Percentage of Company's common stock share price	85.00%

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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