Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 2,078	$ 3,424
Number of shares authorized (in shares)	6,080,000
Number of additional shares authorized (in shares)	1,280,000
Exercised (in shares)	(274,000)	(307,000)
Acquisition of treasury stock (in shares)	23,000	0
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 774	$ 1,023
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)	1,469,000
Dividend yield	0.00%	0.00%
Weighted-average fair value (in dollars per share)	$ 4.06	$ 3.13
Stock options, total intrinsic value of options exercised	$ 542	$ 387
Unrecognized compensation expense	$ 2,023
Weighted-average period of recognition	2 years 4 months 28 days
Cash received under stock option plans for exercises	$ 2,480	664
Restricted stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 1,270	$ 2,297
Stock award, vesting period	4 years
Unrecognized compensation expense	$ 2,567
Weighted-average period of recognition	2 years 4 months 2 days
Granted (in shares)	217,000	249,000
Weighted-average grant-date fair value (in dollars per share)	$ 9.49	$ 8.51
Employee stock purchase plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 34	$ 104
Number of shares available for future grants (in shares)	763,000
Shares issued (in shares)	17,000	41,000
Employee stock purchase plan, discount percentage attributable to compensation expense	15.00%
Cash received under the employee stock purchase plan	$ 124	$ 308
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	$ 2,044	$ 3,320
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%