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Stock-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]  
Schedule of common shares reserved for future issuance
     
(In thousands)  Common Shares
Reserved for Future
Issuance
 
     
2021 Plan   2,403 
2015 Plan   530 
2005 Plan   162 
Total   3,095 
Schedule of unvested RSAs
         
    Unvested Restricted Stock Awards 
    Number of Shares (in thousands)    Weighted-Average
Grant-Date
Fair Value
 
Unvested as of December 31, 2021   149   $5.54 
Granted   132    2.66 
Vested   (97)   6.41 
Forfeited/canceled   (26)   3.85 
Unvested as of December 31, 2022   158   $2.88 
Schedule of option activities
                
   2022   2021 
   Number of
Options (in
thousands)
   Weighted
Average
Exercise
Price
   Number of
Options (in
thousands)
   Weighted
Average
Exercise
Price
 
                 
Outstanding at beginning of year   617   $6.47    1,035   $2.87 
Granted   334    3.63    606    12.99 
Exercised   (99)   0.67    (257)   0.97 
Forfeited   (156)   8.16    (634)   9.81 
Expired   (28)   13.47    (133)   2.82 
Outstanding at end of year   668   $5.22    617   $6.47 
Options exercisable at end of year   281   $4.13    317   $1.56 
Schedule of stock options by exercise price
                     
    Options Outstanding    Options Exercisable 
Range of Exercise Prices   Outstanding at
12/31/21 (in
thousands)
    Weighted
Average
Remaining
Contractual Life (years)
    Weighted
Average
Exercise
Price
    Exercisable at
12/31/21 (in
thousands)
    Weighted
Average
Exercise
Price
 
                          
$0.40 - $0.48   88    0.81   $.47    88   $.47 
$1.15 - $2.80   98    1.57   $1.78    98   $1.78 
$3.45 - $4.75   331    9.17   $3.72    35   $4.38 
$8.72 - $12.71   135    8.27   $12.21    53   $11.87 
$23.52 - $23.52   17    8.17   $23.52    7   $23.52 
                          
$0.40 - $23.52 (all)   668    6.73   $5.22    281   $4.13 
Other information regarding stock options
         
   Outstanding Stock
Options (Expected to Vest)
   Options that are
Exercisable
 
As of December 31, 2022          
Number of outstanding options (in thousands)   688    281 
Weighted average remaining contractual life   6.73 years    3.39 years 
Weighted average exercise price per share  $5.22   $4.13 
Intrinsic value (in thousands)  $372   $372 
Valuation assumptions for stock-based compensation
         
   2022   2021 
         
Weighted average grant date fair value  $3.32   $8.09 
Weighted average assumptions used:          
Expected dividend yield   0.00%    0.00% 
Risk-free interest rate   2.17%    0.70% 
Expected volatility   129.54%    66.72% 
Expected life (in years)   6.76    4.29