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Consolidated Balance Sheets (Parentheticals) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Statement Of Financial Position [Abstract]    
Accounts receivable, net of allowance for doubtful accounts of $1,081 and $1,079 as of December 31, 2020 and December 31, 2019, respectively $ 1,081 $ 1,079
Preferred Stock, par value (in usd per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 5,000,000 5,000,000
Preferred stock, shares issued (in shares) 0 0
Preferred stock, shares outstanding (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 200,000,000 200,000,000
Common stock, shares issued (in shares) 30,399,206 29,925,008
Common stock, shares outstanding (in shares) 30,399,206 29,925,008