CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 476	$ 476
Accumulated depreciation	$ 37,788	$ 35,275
Series A convertible preferred stock, shares designated (in shares)	600,000	600,000
Series A convertible preferred stock, shares issued (in shares)	600,000	600,000
Series A convertible preferred stock, shares outstanding (in shares)	600,000	600,000
Series A convertible preferred stock, liquidation preference, value	$ 60,000	$ 60,000
Preferred stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Preferred stock, shares authorized (in shares)	5,000,000	5,000,000
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized (in shares)	100,000,000	100,000,000
Common stock, shares issued (in shares)	17,255,228	14,515,253
Common stock, shares outstanding (in shares)	13,843,006	11,112,464
Treasury stock (in shares)	3,412,222	3,402,789