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Convertible Subordinated Notes (Narrative) (Details)		3 Months Ended	12 Months Ended
	Apr. 04, 2019 USD ($)	Dec. 31, 2020 USD ($) $ / shares	Dec. 31, 2020 USD ($) $ / shares	Dec. 31, 2019 USD ($)	Dec. 31, 2018 USD ($)	Sep. 09, 2020 USD ($)	Dec. 24, 2018 USD ($)	May 07, 2018 USD ($)	Mar. 19, 2014 USD ($)
Debt Instrument [Line Items]
Debt conversion (in dollars per share) | $ / shares		$ 21.75	$ 21.75
Conversion ratio			45.9712
Amortization of debt issuance costs			$ 782,000	$ 392,000	$ 532,000
Payments for Repurchase of Redeemable Convertible Preferred Stock			$ 4,563,000	$ 27,000	98,266,000
Convertible Preferred Stock, Nonredeemable or Redeemable, Issuer Option, Value						$ 3,800,000		$ 115,000,000.0	$ 143,750,000
Convertible Preferred Stock, Percentage Redeemed						60.00%
Additional Paid-in Capital
Debt Instrument [Line Items]
Adjustments to Additional Paid in Capital, Other		$ (800,000)
Adjustments to Additional Paid in Capital, Other		$ 800,000
Convertible subordinated notes
Debt Instrument [Line Items]
Interest Rate, Unamortized Debt Discount and Debt Issuance Costs, Effective Percentage		3.10%	3.10%	3.20%
Debt instrument interest rate (in percent)									2.75%
Long-term debt, fair value		$ 3,700,000	$ 3,700,000
Interest expense			149,000	$ 174,000	1,878,000
Amortization of debt issuance costs			$ 20,000	24,000	$ 245,000
Interest Rate, Unamortized Debt Discount, Effective Percentage		11.40%	11.40%
Convertible Subordinated Debt	$ 25,000						$ 22,400,000
Payments for Repurchase of Redeemable Convertible Preferred Stock, Principle	$ 27,163
Principal amount		$ 2,559,000	$ 2,559,000	$ 6,319,000		$ 2,600,000
Debt Instrument, Convertible, Remaining Discount Amortization Period			2 months
Accrued Liabilities		$ 100,000	$ 100,000

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