CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Statement of Financial Position [Abstract]
Accounts receivable, allowance for doubtful accounts	$ 368	$ 378
Less: acccumulated depreciation and amortization	1,658	1,564
Finite-lived intangible assets, accumulated amortization	$ 3,058	$ 2,771
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)	3,995,000	3,896,000
Common stock, shares, outstanding (in shares)	2,807,000	2,833,000
Treasury stock (in shares)	1,162,000	1,089,000