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Stock Plans - 2010 Plan (Details) - shares
12 Months Ended
Dec. 31, 2018
Dec. 31, 2013
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Share-based compensation          
Number of options outstanding (in shares) 1,222,000   1,394,000 1,576,000 2,064,000
Inducement Plan          
Share-based compensation          
Common stock available for grant (in shares)   0      
2010 Stock Incentive Plan          
Share-based compensation          
Number of shares authorized 10,600,000        
Stock options | Inducement Plan          
Share-based compensation          
Awards granted (in shares)   124,500      
Vesting period   3 years      
Expiration term   10 years      
Number of options outstanding (in shares) 2,000        
Stock options | 2010 Stock Incentive Plan          
Share-based compensation          
Vesting period 3 years        
Number of options outstanding (in shares) 1,200,000        
Stock options | 2010 Stock Incentive Plan | Minimum          
Share-based compensation          
Expiration term 7 years        
Stock options | 2010 Stock Incentive Plan | Maximum          
Share-based compensation          
Expiration term 10 years        
Restricted stock awards and restricted stock units | 2010 Stock Incentive Plan | Minimum          
Share-based compensation          
Vesting period 1 year        
Restricted stock awards and restricted stock units | 2010 Stock Incentive Plan | Maximum          
Share-based compensation          
Vesting period 5 years        
Restricted stock units | Inducement Plan          
Share-based compensation          
Awards granted (in shares)   87,000      
Number of awards outstanding (in shares) 0        
Restricted stock units | Inducement Plan | Minimum          
Share-based compensation          
Vesting period   2 years      
Restricted stock units | Inducement Plan | Maximum          
Share-based compensation          
Vesting period   4 years      
RSUs and PSUs | 2010 Stock Incentive Plan          
Share-based compensation          
Number of awards outstanding (in shares) 900,000