Stock-Based Compensation (Tables)

12 Months Ended

Dec. 31, 2022

Share-Based Payment Arrangement [Abstract]

Schedule of stock option plans

	Years Ended December 31,
	2022				2021
	Number of Shares		Weighted Average Exercise Price		Number of Shares			Weighted Average Exercise Price
Outstanding at beginning of year		74	$	3.74		207		$	4.16
Options exercised		—		—		(124	)		3.74
Options expired		—		—		(9	)		12.90
Outstanding at end of year		74	$	3.74		74		$	3.74
Options exercisable at end of year		74	$	3.74		74		$	3.74

Schedule of stock options outstanding

		Options Outstanding						Options Exercisable
Range of Exercise Prices		Number Outstanding		Weighted- Average Remaining Contractual Life (yrs.)		Weighted- Average Exercise Price		Number Exercisable		Weighted- Average Exercise Price
$	3.74		74		0.46	$	3.74		74	$	3.74

Schedule of unvested restricted stock activity

	Number of Shares			Weighted- Average Grant Date Fair Value Per Share
Unvested at December 31, 2020		2,260		$	1.34
Issued		750		$	5.76
Vested		(1,525	)	$	1.64
Canceled		(98	)	$	2.77
Unvested at December 31, 2021		1,387		$	3.30
Issued		872		$	6.21
Vested		(1,051	)	$	2.66
Canceled		(39	)	$	6.23
Unvested at December 31, 2022		1,169		$	5.95

Schedule of common stock at vesting aggregated

	Years Ended December 31,
	2022		2021		2020
Employees	$	2,689	$	1,758	$	2,025
Non-employees		644		1,125		654
Total stock-based compensation expense	$	3,333	$	2,883	$	2,679