Stockholders' Equity - Narrative (Details)

v3.23.1

Stockholders' Equity - Narrative (Details)																				1 Months Ended	12 Months Ended			57 Months Ended
	Mar. 15, 2023 USD ($)	Oct. 04, 2022 USD ($)	Jun. 03, 2022 USD ($) $ / shares	May 25, 2022 USD ($)	May 09, 2022 $ / shares shares	Mar. 01, 2022 USD ($)	Feb. 14, 2022 $ / shares	Dec. 28, 2021 USD ($)	Sep. 08, 2021	Aug. 10, 2021 $ / shares	Jun. 03, 2021 USD ($) $ / shares	May 20, 2021 shares	Jan. 21, 2021 USD ($) $ / shares shares	Jan. 18, 2021 $ / shares shares	Jan. 05, 2021 USD ($) $ / shares shares	Dec. 12, 2019 $ / shares	Jan. 24, 2019 $ / shares	Sep. 05, 2018 $ / shares	Apr. 12, 2018 shares	Jan. 31, 2023 shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 15, 2022 $ / shares	May 19, 2022 shares	Dec. 07, 2021 USD ($)
Accumulated Other Comprehensive Income (Loss) [Line Items]
Common stock, authorized (in shares)																					50,000,000	50,000,000		50,000,000
Common stock, par or stated value (in dollars per share) | $ / shares																					$ 0.0005	$ 0.0005		$ 0.0005	$ 0.0005
Preferred stock, authorized (in shares)																					1,000,000	1,000,000		1,000,000
Preferred stock, par or stated value (in dollars per share) | $ / shares																					$ 0.0005	$ 0.0005		$ 0.0005
Preferred stock, issued (in shares)																					0	0		0
Special cash dividend (in dollars per share) | $ / shares					$ 0.30		$ 0.30															$ 0.30
Payment to stockholders | $				$ 4,700,000		$ 4,600,000					$ 4,500,000
Proceeds from issuance initial public offering | $																					$ 0	$ 35,135,000
Accountable expenses | $																					$ 5,905,000	$ 7,026,000		$ 5,905,000
Fee, percent of sales								1.00%
Stock repurchase program, term (in months)									6 months
Future issuance (in shares)																					2,961,000			2,961,000
Stock options outstanding (in shares)																					3,952,000			3,952,000
Issuance of common stock upon stock options cashless exercise (in shares)																					1,833,000
Exercise price (in dollars per share) | $ / shares																					$ 10.03	$ 7.29
Tax withholding cost | $																					$ 7,474,000
Share-based compensation expense | $																					$ 4,500,000
Weighted average period (in years)																					3 years
Subsequent Event
Accumulated Other Comprehensive Income (Loss) [Line Items]
Authorized amount | $	$ 6,000,000
Stock repurchase program, term (in months)	6 months
Issuance of common stock upon stock options cashless exercise (in shares)																				1,348,250
Over-Allotment Option
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares sold in public offering, common stock, percent													6.00%
Employees and Non-Employees
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares purchased (in shares)																					1,095,000
Fair value of stock options | $																					$ 6,600,000	$ 6,100,000
2010 Director's Equity Compensation Plan
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares authorized (in shares)												775,000
Amended 2010 Plan
Accumulated Other Comprehensive Income (Loss) [Line Items]
Common stock issued (in shares)												4,900,000
2010 Equity Compensation Plan | Employees and Non-Employees
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares purchased (in shares)																					325,000	1,249,874
Exercise price, upper range (in dollars per share) | $ / shares																					$ 12.01
Vesting period (in years)																					3 years	3 years
Exercise price, lower range (in dollars per share) | $ / shares																					$ 8.96
2010 Equity Compensation Plan | Employees and Non-Employees | Vesting Period One
Accumulated Other Comprehensive Income (Loss) [Line Items]
Award vesting rights, percentage																					25.00%	25.00%
2010 Equity Compensation Plan | Employees and Non-Employees | Vesting Period Two
Accumulated Other Comprehensive Income (Loss) [Line Items]
Award vesting rights, percentage																					75.00%	75.00%
2018 Stock Incentive Plan | Chief Executive Officer
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares purchased (in shares)																			2,300,000
Issuance of common stock upon stock options cashless exercise (in shares)																								1,650,000
Shares issued (in shares)																			2,300,000
2018 Stock
Accumulated Other Comprehensive Income (Loss) [Line Items]
Fair value of stock options | $																					$ 6,900,000	$ 6,100,000
Share-based compensation expense | $																					$ 4,000,000	3,200,000
2022 Directors Plan
Accumulated Other Comprehensive Income (Loss) [Line Items]
Future issuance (in shares)																					180,000			180,000		300,000
Stock options outstanding (in shares)																					120,000			120,000
2022 Plan
Accumulated Other Comprehensive Income (Loss) [Line Items]
Future issuance (in shares)																										5,900,000
Increase in shares for issuance (in shares)																										1,000,000
Share Repurchase Program
Accumulated Other Comprehensive Income (Loss) [Line Items]
Authorized amount | $																					$ 2,152,000	$ 944,000		$ 2,152,000
Stock repurchased (in shares)																					303,145,000	166,824
Nebula Acquisition
Accumulated Other Comprehensive Income (Loss) [Line Items]
Common stock issued (in shares)																					483,685
Business acquisition, share price (in dollars per share) | $ / shares																					$ 7.46			$ 7.46
Cash payment | $																					$ 3,600,000
Nebula Acquisition | Mr. Kamal Obbad
Accumulated Other Comprehensive Income (Loss) [Line Items]
Exercise price (in dollars per share) | $ / shares										$ 7.67
Inducement Option Award
Accumulated Other Comprehensive Income (Loss) [Line Items]
Business acquisition, share price (in dollars per share) | $ / shares																					$ 7.67			$ 7.67
Exercise price, lower range (in dollars per share) | $ / shares					$ 6.74
Inducement award amount | $																					$ 1,128,000
Minimum | Employees and Non-Employees
Accumulated Other Comprehensive Income (Loss) [Line Items]
Exercise price, lower range (in dollars per share) | $ / shares																					$ 6.44
Minimum | 2010 Equity Compensation Plan | Employees and Non-Employees
Accumulated Other Comprehensive Income (Loss) [Line Items]
Exercise price, upper range (in dollars per share) | $ / shares																						$ 5.28
Exercise price, lower range (in dollars per share) | $ / shares																						5.28
Maximum | Employees and Non-Employees
Accumulated Other Comprehensive Income (Loss) [Line Items]
Exercise price, upper range (in dollars per share) | $ / shares																					$ 12.92
Maximum | 2010 Equity Compensation Plan | Employees and Non-Employees
Accumulated Other Comprehensive Income (Loss) [Line Items]
Exercise price, upper range (in dollars per share) | $ / shares																						$ 11.03
Registered Direct Offering
Accumulated Other Comprehensive Income (Loss) [Line Items]
Common stock issued (in shares)															550,000
Warrants (in shares)															275,000
Shares issued (in dollars per share) | $ / shares															$ 10.00
Proceeds from issuance of warrants | $															$ 5,500,000
Warrants (in dollars per share) | $ / shares															$ 11.00
IPO
Accumulated Other Comprehensive Income (Loss) [Line Items]
Common stock issued (in shares)														3,000,000
Warrants (in shares)													180,000
Shares issued (in dollars per share) | $ / shares														$ 12.50
Warrants (in dollars per share) | $ / shares													$ 15.625
Proceeds from issuance initial public offering | $													$ 35,100,000
Public offering price per share, exercise price, percent													125.00%
At the Market Offering | Sales Agreement
Accumulated Other Comprehensive Income (Loss) [Line Items]
Offering cost | $								$ 100,000,000
Commission rate								0.020
Accountable expenses | $								$ 60,000																			$ 25,000
Legal fees | $								50,000
At the Market Offering | Sales Agreement | Maximum
Accumulated Other Comprehensive Income (Loss) [Line Items]
Offering cost | $								$ 3,000
CEO Options | 2018 Stock | Stockholders
Accumulated Other Comprehensive Income (Loss) [Line Items]
Special cash dividend (in dollars per share) | $ / shares											$ 0.30					$ 0.25	$ 0.25	$ 1.00
Exercise price, lower range (in dollars per share) | $ / shares			$ 0.60
CEO Options | Minimum | 2018 Stock
Accumulated Other Comprehensive Income (Loss) [Line Items]
Exercise price, upper range (in dollars per share) | $ / shares											1.20					1.50	1.75	2.00
CEO Options | Maximum | 2018 Stock Incentive Plan
Accumulated Other Comprehensive Income (Loss) [Line Items]
Exercise price, lower range (in dollars per share) | $ / shares																		$ 3.00
CEO Options | Maximum | 2018 Stock
Accumulated Other Comprehensive Income (Loss) [Line Items]
Exercise price, upper range (in dollars per share) | $ / shares																	2
Exercise price, lower range (in dollars per share) | $ / shares											$ 1.50					1.75	$ 2.00
Inducement Option Award
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares purchased (in shares)																						100,000
Award vesting rights, percentage																					25.00%
Inducement award (in shares)																					250,000
Exercise price (in dollars per share) | $ / shares																						$ 5.76
Inducement Option Award | Vesting Period One
Accumulated Other Comprehensive Income (Loss) [Line Items]
Award vesting rights, percentage																					50.00%
Inducement Option Award | Vesting Period Two
Accumulated Other Comprehensive Income (Loss) [Line Items]
Award vesting rights, percentage																					25.00%
Inducement Option Award | Mr. Kamal Obbad
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares authorized (in shares)					400,000																250,000			250,000
CFO Award | 2018 Stock Incentive Plan | Chief Financial Officer
Accumulated Other Comprehensive Income (Loss) [Line Items]
Special cash dividend (in dollars per share) | $ / shares			$ 0.30
Inducement award amount | $			$ 1,604,000
Reversal of stock based compensation expense | $		$ 149,000
CFO Award | Minimum
Accumulated Other Comprehensive Income (Loss) [Line Items]
Exercise price, upper range (in dollars per share) | $ / shares																6.44
CFO Award | Maximum
Accumulated Other Comprehensive Income (Loss) [Line Items]
Exercise price, lower range (in dollars per share) | $ / shares																$ 6.74
Common Stock
Accumulated Other Comprehensive Income (Loss) [Line Items]
Stock repurchased (in shares)																					303,145	166,824
Issuance of common stock upon stock options cashless exercise (in shares)																					828,021
Shares issued (in shares)																					828,021
Shares withheld for tax withholding obligation																					1,103,000
Common stock repurchased | $																					$ 7,500,000
Common Stock | Subsequent Event
Accumulated Other Comprehensive Income (Loss) [Line Items]
Stock repurchased (in shares)																				744,369
Issuance of common stock upon stock options cashless exercise (in shares)																				603,881
Common Stock | 2010 Director's Equity Compensation Plan
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares purchased (in shares)																						225,126
Shares issued (in dollars per share) | $ / shares																						$ 5.28
Common Stock | 2022 Directors Plan
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares purchased (in shares)																					120,000
Shares issued (in dollars per share) | $ / shares																					$ 5.28			$ 5.28
Common Stock | Inducement Option Award
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares issued (in dollars per share) | $ / shares																					$ 13.00			$ 13.00
Warrant
Accumulated Other Comprehensive Income (Loss) [Line Items]
Warrants (in shares)																					5,986			5,986
Cashless exercise of stock (in shares)																					50,000
Warrants outstanding (in shares)																					855,000			855,000
Share-based compensation expense | $																						$ 253,000
Weighted average period (in years)																						1 year 10 months 24 days	2 years 8 months 12 days
Warrant | Registered Direct Offering
Accumulated Other Comprehensive Income (Loss) [Line Items]
Warrants (in shares)																					275,000			275,000
Warrant | IPO
Accumulated Other Comprehensive Income (Loss) [Line Items]
Warrants (in shares)																					180,000			180,000