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Stock Incentive Plan - Narrative (Details) - USD ($)
12 Months Ended
Apr. 03, 2017
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Subsidiary, Sale of Stock [Line Items]        
Value of shares witheld for taxes   $ 1,109,000 $ 452,000  
PSUs        
Subsidiary, Sale of Stock [Line Items]        
Total compensation cost attributable to shares awarded   $ 1,096,000    
Share vesting period   3 years    
Grants in the period (in shares)   310,000 890,000  
Grants in the period (USD per share)   $ 11.81 $ 11.64 $ 0
Vested (in shares)   63,000 0 0
Vested (in usd per share)   $ 15.15    
Fair value of shares vested in period   $ 948,000    
RSUs        
Subsidiary, Sale of Stock [Line Items]        
Total compensation cost attributable to shares awarded   $ 1,573,000    
Share vesting period   3 years    
Grants in the period (in shares)   261,000 248,000 0
Grants in the period (USD per share)   $ 12.14 $ 16.08  
Vested (in shares)   120,000   0
Vested (in usd per share)   $ 14.30    
Fair value of shares vested in period   $ 1,709,000 $ 392,000 $ 0
RSAs        
Subsidiary, Sale of Stock [Line Items]        
Total compensation cost attributable to shares awarded   $ 1,092,000    
Share vesting period   3 years    
Grants in the period (in shares)     49,000 217,000
Grants in the period (USD per share)     $ 11.64 $ 10.69
Fair value of shares vested in period   $ 1,261,000 $ 1,107,000 $ 3,117,000
Shares withheld for taxes (in shares)   17,000 28,000 66,000
Value of shares witheld for taxes   $ 255,000 $ 361,000 $ 1,075,000
RSAs | Non Employee Director        
Subsidiary, Sale of Stock [Line Items]        
Grants in the period (in shares)   52,000    
Grants in the period (USD per share)   $ 12.06    
Vested (in shares)   52,000    
Vested (in usd per share)   $ 11.69    
Restricted Stock Units And Performance Stock Units        
Subsidiary, Sale of Stock [Line Items]        
Shares withheld for taxes (in shares)   74,000 8,000 0
Value of shares witheld for taxes   $ 964,000 $ 92,000  
Warrants to the Lenders Under the Loan Agreement | Loan and Security Agreement        
Subsidiary, Sale of Stock [Line Items]        
Warrants, term 5 years      
Warrant exercise price (USD per share) $ 10.25      
Number of warrants 1,000,000      
Stock Incentive Plan        
Subsidiary, Sale of Stock [Line Items]        
Total compensation cost attributable to shares awarded   $ 3,788,000 3,064,000 $ 2,843,000
Number of shares available for grant (in shares)   133,000    
Unrecognized compensation cost   $ 16,300,000    
Weighted-average recognition period   3 years 2 months 12 days    
Stock Incentive Plan | RSAs, RSUs and PSUs        
Subsidiary, Sale of Stock [Line Items]        
Total compensation cost attributable to shares awarded   $ 3,761,000 $ 3,064,000 $ 2,843,000
ESPP | Employee Stock        
Subsidiary, Sale of Stock [Line Items]        
Total compensation cost attributable to shares awarded   $ 27,000    
Number of shares available for grant (in shares)   787,000    
Maximum annual contribution per employee   15.00%    
Maximum annual contribution amount   $ 25,000    
Purchase price of common stock percent   85.00%