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Stockholder's Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Jun. 08, 2022
Mar. 31, 2024
Mar. 31, 2023
Jun. 07, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment   $ 522 $ 296  
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Increase in shares authorized (in shares) 1,280      
Shares authorized (in shares) 6,080     4,800
Unrecognized compensation expense   $ 1,918    
Weighted-average period of recognition   2 years 8 months 4 days    
Shares issued (in shares)   0    
Stock options granted (in shares)   266,000 317,000  
Stock options expired (in shares)   14,000    
Stock options outstanding (in shares)   1,482,000    
Stock options outstanding, weighted average exercise price (in USD per share)   $ 8.75    
Stock options exercisable (in shares)   641,000    
Exercisable stock options, weighted average exercise price (in USD per share)   $ 9.86    
Stock Options | ESPP Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment   $ 517 $ 284  
Employee Stock | ESPP Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment   $ 5 $ 12  
Percentage of Company's common stock share price   85.00%    
Stock options issued ESPP (in shares)   24,000 0  
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation expense   $ 2,399    
Weighted-average period of recognition   2 years 7 months 24 days    
Restricted stock (in shares)   122,000    
Restricted stock, weighted average price (in USD per share)   $ 5.03    
Restricted stock award, forfeitures, less than (in shares)   8,000    
Restricted stock vested (in shares)   66,000    
Restricted stock surrendered (in shares)   0    
Unvested outstanding options (in shares)   0    
Performance-Based or Market-Based Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unvested outstanding options (in shares)   0