Consolidated Statements of Shareholders' Equity - USD ($)	Preferred Stock [Member]	Common Stock [Member]	AOCI Attributable to Parent [Member]	Retained Earnings [Member]	Total
Balance (in shares) at Dec. 31, 2020		13,235,038
Balance at Dec. 31, 2020		$ 139,726,000	$ (992,000)	$ (130,006,000)	$ 8,728,000
Exercise of stock options (in shares)		37,380			36,130
Exercise of stock options		$ 68,000			$ 68,000
Issuance of common stock upon settlement of restricted stock units (RSUs) (in shares)	0	199,311
Issuance of common stock upon settlement of restricted stock units (RSUs)	$ 0	$ 0	0	0	0
Sale of common stock (in shares)		6,902,677
Sale of common stock		$ 31,936,000			31,936,000
Stock-based compensation	$ 0	674,000	0	0	674,000
Net loss				(2,242,000)	(2,242,000)
Foreign currency translation, net of tax		$ (7,000)	(32,000)		$ (39,000)
Repurchase of common stock (in shares)					0
Repurchase of common stock					$ 0
Balance (in shares) at Dec. 31, 2021		20,374,406
Balance at Dec. 31, 2021		$ 172,397,000	(1,024,000)	(132,248,000)	$ 39,125,000
Exercise of stock options (in shares)	0	69,631			69,631
Exercise of stock options	$ 0	$ 81,000	0	0	$ 81,000
Issuance of common stock upon settlement of restricted stock units (RSUs) (in shares)	0	72,726
Issuance of common stock upon settlement of restricted stock units (RSUs)	$ 0	$ 0	0	0	0
Stock-based compensation	0	420,000	0	0	420,000
Net loss	0	0	0	(3,858,000)	(3,858,000)
Foreign currency translation, net of tax	$ 0	$ 0	(29,000)	0	$ (29,000)
Repurchase of common stock (in shares)	0	(178,857)			(178,857)
Repurchase of common stock	$ 0	$ (203,000)	0	0	$ (202,947)
Cash settlement of performance stock units	$ 0	$ (137,000)	0	0	(137,000)
Balance (in shares) at Dec. 31, 2022	0	20,337,906
Balance at Dec. 31, 2022	$ 0	$ 172,558,000	$ (1,053,000)	$ (136,106,000)	$ 35,399,000