CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Total	Preferred Stock Series B Convertible Preferred Stock	Common Stock	Additional Paid-in Capital	Treasury Stock	Accumulated Deficit	Accumulated Other Comprehensive Income
Beginning Balances at Dec. 31, 2020	$ 34,189	$ 5	$ 19	$ 452,129	$ (9,933)	$ (410,609)	$ 2,578
Beginning Balances (in shares) at Dec. 31, 2020		5,000	18,055
Net income (loss)	1,620					1,620
Unrealized gain (loss) from foreign currency translation adjustments	(629)						(629)
Issuance of common stock in connection with vesting of stock awards	1		$ 1
Issuance of common stock in connection with vesting of stock awards (shares)			421
Proceeds from exercise of stock options	299			299
Proceeds from exercise of stock options			29
Stock-based compensation	2,606			2,606
Shares withheld in payment of taxes in connection with net share settlement of restricted stock units	(1,201)				(1,201)
Shares withheld in payment of taxes in connection with net share settlement of restricted stock units (shares)			(82)
Issuance of common stock in connection with warrant exercise (shares)			28
Issuance of common stock in connection with public offering	37,627		$ 4	37,623
Issuance of common stock in connection with public offering (shares)			3,779
Ending Balances at Dec. 31, 2021	74,512	$ 5	$ 24	492,657	(11,134)	(408,989)	1,949
Ending Balances (in shares) at Dec. 31, 2021		5,000	22,230
Net income (loss)	(392)					(392)
Unrealized gain (loss) from foreign currency translation adjustments	(848)						(848)
Issuance of common stock in connection with vesting of stock awards (shares)			461
Stock-based compensation	3,161			3,161
Shares withheld in payment of taxes in connection with net share settlement of restricted stock units	(1,039)				(1,039)
Shares withheld in payment of taxes in connection with net share settlement of restricted stock units (shares)			(68)
Ending Balances at Dec. 31, 2022	75,394	$ 5	$ 24	495,818	(12,173)	(409,381)	1,101
Ending Balances (in shares) at Dec. 31, 2022		5,000	22,623
Net income (loss)	(5,489)					(5,489)
Unrealized gain (loss) from foreign currency translation adjustments	228						228
Issuance of common stock in connection with vesting of stock awards	1		$ 1
Issuance of common stock in connection with vesting of stock awards (shares)			459
Stock-based compensation	3,971			3,971
Shares withheld in payment of taxes in connection with net share settlement of restricted stock units	$ (796)				(796)
Shares withheld in payment of taxes in connection with net share settlement of restricted stock units (shares)			(110)
Proceeds from exercise of warrants, shares	275
Proceeds from exercise of warrants	$ 963			963
Ending Balances at Dec. 31, 2023	$ 74,272	$ 5	$ 25	$ 500,752	$ (12,969)	$ (414,870)	$ 1,329
Ending Balances (in shares) at Dec. 31, 2023		5,000	23,247