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Convertible Subordinated Notes (Narrative) (Details) - USD ($)
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Mar. 12, 2021
Sep. 09, 2020
Apr. 04, 2019
Dec. 24, 2018
May 07, 2018
Mar. 19, 2014
Debt Instrument [Line Items]                  
Amortization of debt issuance costs $ 576,000 $ 782,000 $ 392,000            
Convertible Preferred Stock, Nonredeemable or Redeemable, Issuer Option, Value       $ 2,400,000 $ 3,800,000     $ 115,000,000 $ 143,750,000
Payments for Repurchase of Redeemable Convertible Preferred Stock, Cash Payment 3,800,000                
Additional Paid-in Capital                  
Debt Instrument [Line Items]                  
Adjustments to Additional Paid in Capital, Other (1,400,000)                
Adjustments to Additional Paid in Capital, Other $ 1,400,000                
Convertible subordinated notes                  
Debt Instrument [Line Items]                  
Interest Rate, Unamortized Debt Discount and Debt Issuance Costs, Effective Percentage 3.10% 3.10%              
Debt instrument interest rate (in percent)                 2.75%
Interest expense $ 18,000 $ 149,000 174,000            
Amortization of debt issuance costs $ 1,000 $ 20,000 $ 24,000            
Interest Rate, Unamortized Debt Discount, Effective Percentage 11.40% 11.40%              
Convertible Subordinated Debt           $ 25,000 $ 22,400,000    
Principal amount $ 0 $ 2,559,000   $ 200,000