CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Accounts receivable, allowance for doubtful accounts	$ 102	$ 51
Less: acccumulated depreciation and amortization	1,086	950
Finite-lived intangible assets, accumulated amortization	$ 2,207	$ 1,647
Preferred stock, par value (dollars per share)	$ 0.001	$ 0.001
Preferred stock, shares authorized (in shares)	10,000,000	10,000,000
Preferred stock, issued (in shares)	0	0
Preferred stock, outstanding (in shares)	0	0
Common stock, par value (dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	20,000,000	20,000,000
Common stock, issued (in shares)	3,889,000	3,823,000
Common stock, shares, outstanding (in shares)	2,794,000	2,823,000
Treasury stock (in shares)	1,066,000	1,029,000