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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2023
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,
 20232022
Risk-free interest rate4.49 %3.02 %
Expected volatility43.93 %43.19 %
Expected life (in years)4.304.24
Dividend yield0 %0 %
Schedule of share-based compensation, stock options, activity
The changes in outstanding stock options for the year ended December 31, 2023 and 2022 are as follows:
 
Number of OptionsWeighted Average
Exercise Price		Weighted Average
Remaining
Contractual Life
(in Years)		Aggregate Intrinsic
Value
Outstanding at December 31, 2022
1,751 $9.77 
Granted317 $9.81 
Exercised(274)$9.07 
Expired, canceled or forfeited(564)$10.58 
Outstanding at December 31, 2023
1,230 $9.57 2.67$— 
Exercisable at December 31, 2023
510 $9.56 1.63$— 
Options vested or expected to vest at December 31, 2023
1,230 $9.57 2.67$— 
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 
Schedule of share-based compensation, restricted stock and restricted stock units activity
Restricted stock activity under the 2016 Plan for 2023 is as follows:
 
Number of
Shares		Weighted-
average
grant date
fair value
Outstanding at December 31, 2022, unvested
326 $9.30 
Granted217 9.49 
Vested(116)9.21 
Forfeited(72)9.80 
Outstanding at December 31, 2023, unvested
355 $9.34 
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, 2023 and 2022.
20232022
Cost of product sales$34 $415 
Cost of service sales21 11 
Research and development567 837 
Sales, marketing and support222 362 
General and administrative1,234 1,799 
$2,078 $3,424 
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) Income on Available for Sale Marketable SecuritiesTotal Accumulated Other Comprehensive Loss
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)
Other comprehensive (loss) income(87)12 (75)
Net other comprehensive (loss) income(87)12 (75)
Balance, December 31, 2023
$(4,185)$— $(4,185)