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Shareholders’ Equity and Stock Incentive Plans (Details) - USD ($) |  | 3 Months Ended |
--- | --- | --- | ---
Jan. 01, 2020 | Mar. 31, 2021 | Mar. 31, 2020 | Mar. 12, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Common stock repurchase, authorized |  |  |  | $ 25,000,000
2015 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Common stock available for grants of awards (in shares) |  | 2,299,828 |  |
Number of shares available for grant annual increase (in shares) | 1,126,361 |  |  |
Option |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based compensation expense, net |  | $ 200,000 | $ 600,000 |
Stock options, unrecognized share-based compensation expense |  | 0 | $ 1,500,000 |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  | 9 months 18 days |
Performance Stock Units (PSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based compensation expense, net |  | $ 1,200,000 | $ 500,000 |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  | 2 years 4 months 24 days | 2 years 4 months 24 days |
Restricted Stock Units Outstanding, Cancelled (in shares) |  | (77,725) |  |
Restricted Stock Units Outstanding, Granted (in shares) |  | 119,073 |  |
Number of PSUs granted to each recipient, vested (in shares) |  | 89,920 |  |
Percentage of target number of PSU's eligible to vest at "maximum" performance level |  | 200.00% |  |
Unamortized share-based compensation expense |  | $ 6,200,000 | $ 5,800,000 |
Performance Stock Units (PSUs) | November 2017 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of PSUs granted to each recipient, eligible to vest (in shares) |  | 62,791 |  |
Performance Stock Units (PSUs) | March 2019 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of PSUs granted to each recipient, eligible to vest (in shares) |  | 14,934 |  |
Performance Stock Units (PSUs) | 2018 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Restricted Stock Units Outstanding, Granted (in shares) | 71,468 |  |  |
Performance Stock Units (PSUs) | 2019 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of PSUs granted to each recipient, eligible to vest (in shares) |  | 189,646 |  |
Restricted Stock Units Outstanding, Granted (in shares) |  | 204,580 |  |
Number of PSUs granted to each recipient, vested (in shares) |  | 18,452 |  |
Restricted Stock Units (RSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based compensation expense, net |  | $ 1,300,000 | $ 1,000,000.0 |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  | 2 years 4 months 24 days | 2 years 7 months 6 days |
Restricted Stock Units Outstanding, Cancelled (in shares) |  | (2,606) |  |
Restricted Stock Units Outstanding, Granted (in shares) |  | 211,073 |  |
Number of PSUs granted to each recipient, vested (in shares) |  | 313,652 |  |
Unamortized share-based compensation expense |  | $ 11,300,000 | $ 8,600,000 |

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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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