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Changes in Accounting Principles (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Trade receivables, net of allowance $ 3,873     $ 3,297        
Total current assets 15,618     12,032        
Long-term equipment Financing Receivables net of allowance 0     0        
Total assets 55,335     55,634        
Accumulated deficit (88,528)     (87,946)        
Total stockholders' equity 43,687 $ 41,064 $ 40,894 41,459 $ 66,234 $ 65,884 $ 65,807 $ 65,933
Total Liabilities and Stockholders' Equity 55,335     55,634        
Trade receivables, net of allowance (3,873)     (3,297)        
Total current assets (15,618)     (12,032)        
Long-term equipment Financing Receivables net of allowance 0     0        
Total assets (55,335)     (55,634)        
Total Liabilities and Stockholders' Equity (55,335)     $ (55,634)        
As Previously Reported [Member]                
Trade receivables, net of allowance 3,297              
Contract assets, net of allowance 318              
Equipment Financing Receivables net of allowance 635              
Total current assets 12,032              
Long-term equipment Financing Receivables net of allowance 1,255              
Total assets 55,634              
Accumulated deficit (87,946)              
Total stockholders' equity 41,459              
Total Liabilities and Stockholders' Equity 55,634              
Trade receivables, net of allowance (3,297)              
Total current assets (12,032)              
Long-term equipment Financing Receivables net of allowance (1,255)              
Total assets (55,634)              
Total Liabilities and Stockholders' Equity (55,634)              
New ASC 326 Standard Adjustment [Member]                
Trade receivables, net of allowance 18              
Contract assets, net of allowance (29)              
Equipment Financing Receivables net of allowance (37)              
Total current assets 84              
Long-term equipment Financing Receivables net of allowance 75              
Total assets 159              
Accumulated deficit (159)              
Total stockholders' equity (159)              
Total Liabilities and Stockholders' Equity 159              
Trade receivables, net of allowance (18)              
Total current assets (84)              
Long-term equipment Financing Receivables net of allowance (75)              
Total assets (159)              
Total Liabilities and Stockholders' Equity (159)              
As Adjusted [Member]                
Trade receivables, net of allowance 3,279              
Contract assets, net of allowance 289              
Equipment Financing Receivables net of allowance 598              
Total current assets 11,948              
Long-term equipment Financing Receivables net of allowance 1,180              
Total assets 55,475              
Accumulated deficit (88,105)              
Total stockholders' equity 41,300              
Total Liabilities and Stockholders' Equity 55,475              
Trade receivables, net of allowance (3,279)              
Total current assets (11,948)              
Long-term equipment Financing Receivables net of allowance (1,180)              
Total assets (55,475)              
Total Liabilities and Stockholders' Equity $ (55,475)