Consolidated Statements of Shareholders' Equity Statement - USD ($) $ in Thousands	Total	Common Stock	Accumulated Other Comprehensive Income (loss)	Accumulated Deficit	Non-Controlling Interest
Beginning Balance (in shares) at Dec. 31, 2022		55,113,186
Beginning Balance at Dec. 31, 2022	$ 43,331	$ 481,229	$ 2,178	$ (450,985)	$ 10,909
Stock issued under employee equity incentive plans (in shares)		606,539
Stock issued under employee equity incentive plans	156	$ 156
Stock-based compensation expense	1,166	$ 1,166
Foreign currency translation adjustment	(366)		(333)		(33)
Net proceeds from issuance of equity interest to non-controlling interest	14,596				14,596
Net loss attributable to non-controlling interest	(338)				(338)
Net income (loss)	(9,396)			(9,396)
Ending Balance (in shares) at Mar. 31, 2023		55,719,725
Ending Balance at Mar. 31, 2023	49,149	$ 482,551	1,845	(460,381)	25,134
Beginning Balance (in shares) at Dec. 31, 2023		57,126,680
Beginning Balance at Dec. 31, 2023	36,798	$ 486,324	3,378	(477,161)	24,257
Stock issued under employee equity incentive plans (in shares)		680,623
Stock issued under employee equity incentive plans	125	$ 125
Stock-based compensation expense	1,075	$ 1,075
Foreign currency translation adjustment	522		775		(253)
Net loss attributable to non-controlling interest	(98)				(98)
Net income (loss)	(5,066)			(5,066)
Ending Balance (in shares) at Mar. 31, 2024		57,807,303
Ending Balance at Mar. 31, 2024	$ 33,356	$ 487,524	$ 4,153	$ (482,227)	$ 23,906