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Stock incentive plans, Stock options (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Remaining Term [Abstract]    
Unrecognized compensation cost related to stock options $ 4,100  
Weighted average period to recognize compensation cost not yet recognized 3 years 3 months 18 days  
Fair value of all awards vested $ 1,300 $ 1,600
Intrinsic value of stock options exercised 3 40
Cash received from exercise of stock options 0 0
Excess tax benefit in provision for income taxes $ 0 $ (13)
2005 Equity Incentive Plan and 2014 Equity Incentive Plan [Member] | Stock Options [Member]    
Number of Shares [Roll Forward]    
Outstanding, beginning of period (in shares) 1,355,955  
Granted (in shares) 309,800  
Exercised (in shares) (1,875) (17,500)
Forfeited (in shares) (271,655)  
Expired (in shares) (77,750)  
Outstanding, end of period (in shares) 1,314,475 1,355,955
Options vested or expected to vest (in shares) 1,314,475  
Options exercisable, end of period (in shares) 968,972  
Weighted Average Exercise Price [Abstract]    
Outstanding, beginning of period (in dollars per share) [1] $ 9.08  
Granted (in dollars per share) [1] 6.91  
Exercised (in dollars per share) [1] 4.25  
Forfeited (in dollars per share) [1] 7.72  
Expired (in dollars per share) [1] 8.9  
Outstanding, end of period (in dollars per share) [1] 8.82 $ 9.08
Options vested or expected to vest (in dollars per share) [1] 8.82  
Options exercisable, end of period (in dollars per share) [1] $ 9.31  
Aggregate Intrinsic Value [Abstract]    
Options vested and expected to vest $ 316  
Options exercisable, end of period $ 167  
Remaining Term [Abstract]    
Options vested and expected to vest [2] 4 years  
Options exercisable, end of period [2] 2 years 2 months 12 days  
2005 Equity Incentive Plan and 2014 Equity Incentive Plan [Member] | Restricted Share Units [Member]    
Number of Shares [Roll Forward]    
Options vested or expected to vest (in shares) 184,536  
Weighted Average Exercise Price [Abstract]    
Options vested or expected to vest (in dollars per share) [1] $ 0  
Number of Units [Roll Forward]    
Outstanding, beginning of period (in shares) 214,286  
Granted (in shares) 210,100  
Exercised (in shares) (58,705)  
Forfeited (in shares) (181,145)  
Expired (in shares) 0  
Outstanding, end of period (in shares) 184,536 214,286
Weighted Average Grant Stock Price [Abstract]    
Outstanding, beginning of period (in dollars per share) [3] $ 9.28  
Granted (in dollars per share) [3] 7.21  
Exercised (in dollars per share) [3] 9.55  
Forfeited (in dollars per share) [3] 8.34  
Expired (in dollars per share) [3] 0  
Outstanding, end of period (in dollars per share) [3] $ 7.76 $ 9.28
Aggregate Intrinsic Value [Abstract]    
Restricted stock units vested and expected to vest $ 1,288  
Remaining Term [Abstract]    
Restricted stock units vested and expected to vest [2] 2 years 8 months 12 days  
[1] weighted average exercise price per share
[2] weighted-average contractual remaining term in years
[3] weighted average grant stock price per share