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Stockholders' Equity and Stock Incentive Plans (Details Textual) - USD ($) |  | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | ---
Jan. 01, 2020 | Jun. 30, 2020 | Jun. 30, 2019 | Jun. 30, 2020 | Jun. 30, 2019 | Mar. 12, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Common stock repurchase, authorized |  | $ 0 |  | $ 0 |  |
2015 Plan [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Common stock available for grants of awards |  | 1,529,029 |  | 1,529,029 |  |
Number of shares available for grant annual increase | 1,066,403 |  |  |  |  |
Employee Stock Option [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation expense, net |  | $ 500,000 | $ 900,000 | $ 1,100,000 | $ 3,400,000 |
Stock Options, unrecognized share-based compensation expense |  | 1,000,000.0 | 3,600,000 | $ 1,000,000.0 | $ 3,600,000 |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  | 7 months 6 days | 1 year 4 months 24 days |
Performance Stock Units (PSUs) [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation expense, net |  | 200,000 | 200,000 | $ 700,000 | $ 600,000 |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  | 2 years 3 months 18 days | 2 years 4 months 24 days |
Unamortized share-based compensation expense |  | 5,100,000 | 4,000,000.0 | $ 5,100,000 | $ 4,000,000.0 |
Performance Stock Units (PSUs) [Member] | 2018 Plan [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Actual number of PSUs granted to each recipient, eligible to vest | 108,957 |  |  | 76,722 |  |
Percentage of target number of PSU's eligible to vest at "maximum" performance level |  |  |  | 70.40% |  |
Decrease in number of PSUs granted, eligible to vest |  |  |  | (32,235) |  |
Performance Stock Units (PSUs) [Member] | 2015 Plan [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Actual number of PSUs granted to each recipient, eligible to vest |  |  |  | 62,791 |  |
Percentage of target number of PSU's eligible to vest at "maximum" performance level |  |  |  | 200.00% |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation expense, net |  | 1,100,000 | 1,000,000.0 | $ 2,100,000 | $ 2,100,000 |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  | 2 years 3 months 18 days | 2 years 3 months 18 days |
Unamortized share-based compensation expense |  | $ 9,800,000 | $ 7,400,000 | $ 9,800,000 | $ 7,400,000 |
Maximum [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Common stock repurchase, authorized |  |  |  |  |  | $ 25,000,000.0

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