Shareholders' Equity - Schedule of Activity Under Stock Option Plans (Details) - 2015 Plan - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum number of shares under the plan	2,000,000
Number of Options Outstanding Beginning Balance	149,000	307,000
Number of Options Cancelled/Expired	(137,000)	(158,000)
Number of Options Outstanding Ending Balance	12,000	149,000	307,000
Number of Options Exercisable	12,000	149,000
Available for Issuance Number of Options Ending Balance	1,988,000	1,851,000
Weighted Average Exercise Price
Outstanding Weighted Average Exercise Price Beginning Balance	$ 1.42	$ 1.8
Weighted Average Exercise Price Cancelled/Expired	1.41	2.08
Outstanding Weighted Average Exercise Price Ending Balance	1.61	1.42	$ 1.8
Weighted Average Exercise Price Exercisable Ending Balance	$ 1.61	$ 1.32
Weighted Average Remaining Contractual Life
Weighted Average Remaining Contractual Life Options Outstanding	2 years 9 months 18 days	2 years 8 months 12 days	2 years 7 months 6 days
Weighted Average Remaining Contractual Life Options Exercisable	2 years 9 months 18 days	2 years 8 months 12 days
Aggregate Intrinsic Value
Outstanding Aggregate Intrinsic Value		$ 45	$ 45
Aggregate Intrinsic Value Exercisable		$ 45