Stock Incentive Plan and Other Equity Activity (Details) - USD ($) $ in Thousands	3 Months Ended					9 Months Ended
	Sep. 30, 2021	Mar. 31, 2021	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2021	Sep. 30, 2020
Sale of Stock [Line Items]
Stock-based compensation expense	$ 1,840		$ 1,765			$ 5,690	$ 7,961
Shares withheld for taxes	$ (99)	$ (5,619)	(133)	$ (50)	$ (772)
Shares issued from exercise of warrants (in shares)	125,000					125,000
Number of warrants exercised (in shares)	230,000					230,000
Fair value of warrants exercised	$ 2,812					$ 2,812
Employee Stock Purchase Plan \| ESPP
Sale of Stock [Line Items]
Stock-based compensation expense	$ 19		$ 18			$ 66	$ 54
Treasury Stock
Sale of Stock [Line Items]
Shares withheld for taxes (in shares)		16,000	14,000	3,000	46,000
Shares withheld for taxes		$ (296)	$ (133)	$ (32)	$ (668)
Treasury Stock \| RSU/PSU
Sale of Stock [Line Items]
Shares withheld for taxes (in shares)	4,000					250,000
Shares withheld for taxes	$ 99					$ 5,718