CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2022		67,431,000
Beginning balance at Dec. 31, 2022	$ 172,354	$ 106	$ 412,708	$ (55)	$ (240,405)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(18,770)				(18,770)
Foreign currency translation gain (loss)	2			2
Actuarial loss on pension liability adjustment	0
Restricted stock unit awards vested, net of shares withheld to cover tax withholding (in shares)		1,259,000
Restricted stock unit awards vested, net of shares withheld to cover tax withholding	(1,584)	$ 1	(1,585)
Stock-based compensation	13,592		13,592
Issuance of common stock for 401K match (in shares)		777,000
Issuance of common stock for 401K match	1,942	$ 1	1,941
Ending balance (in shares) at Jun. 30, 2023		69,467,000
Ending balance at Jun. 30, 2023	167,536	$ 108	426,656	(53)	(259,175)
Beginning balance (in shares) at Mar. 31, 2023		69,388,000
Beginning balance at Mar. 31, 2023	169,895	$ 108	420,980	(42)	(251,151)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(8,024)				(8,024)
Foreign currency translation gain (loss)	(11)			(11)
Actuarial loss on pension liability adjustment	0
Restricted stock unit awards vested, net of shares withheld to cover tax withholding (in shares)		79,000
Stock-based compensation	5,676		5,676
Ending balance (in shares) at Jun. 30, 2023		69,467,000
Ending balance at Jun. 30, 2023	$ 167,536	$ 108	426,656	(53)	(259,175)
Beginning balance (in shares) at Dec. 31, 2023	70,239,890	70,240,000
Beginning balance at Dec. 31, 2023	$ 159,003	$ 109	433,781	(60)	(274,827)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(15,135)				(15,135)
Foreign currency translation gain (loss)	(56)			(56)
Actuarial loss on pension liability adjustment	(30)			(30)
Restricted stock unit awards vested, net of shares withheld to cover tax withholding (in shares)		1,555,000
Restricted stock unit awards vested, net of shares withheld to cover tax withholding	(428)	$ 2	(430)
Stock-based compensation	$ 4,073		4,073
Issuance of common stock upon exercise of stock options (in shares)	58,000	58,000
Issuance of common stock upon exercise of stock options	$ 104		104
Issuance of common stock for 401K match (in shares)		370,000
Issuance of common stock for 401K match	$ 1,618		1,618
Ending balance (in shares) at Jun. 30, 2024	72,223,328	72,223,000
Ending balance at Jun. 30, 2024	$ 149,149	$ 111	439,146	(146)	(289,962)
Beginning balance (in shares) at Mar. 31, 2024		71,758,000
Beginning balance at Mar. 31, 2024	154,396	$ 110	436,616	(125)	(282,205)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(7,757)				(7,757)
Foreign currency translation gain (loss)	(21)			(21)
Actuarial loss on pension liability adjustment	0
Restricted stock unit awards vested, net of shares withheld to cover tax withholding (in shares)		407,000
Restricted stock unit awards vested, net of shares withheld to cover tax withholding	1	$ 1
Stock-based compensation	2,426		2,426
Issuance of common stock upon exercise of stock options (in shares)		58,000
Issuance of common stock upon exercise of stock options	$ 104		104
Ending balance (in shares) at Jun. 30, 2024	72,223,328	72,223,000
Ending balance at Jun. 30, 2024	$ 149,149	$ 111	$ 439,146	$ (146)	$ (289,962)