Cold start problems 2002 Mazda MPV

My MPV has recently developed starting problems on cold days. The engine turns over sluggishly the first one or two revolutions, then gets up to speed and turns over normally, but without the engine firing at all. It is now December in Colorado Springs, CO and old man winter has brought the usual cold temps. The battery was replaced last year, the vehicle has 114K miles. Is there some sort of cold-start injector or sensor that could be failing?