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Stockholder's Equity Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment $ 742 $ 1,033 $ 1,547 $ 1,907
Stock options issued ESPP (in shares) 0 0 20,000 23,000
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment $ 742 $ 1,017 $ 1,531 $ 1,877
Unrecognized compensation expense $ 2,412   $ 2,412  
Weighted-average period of recognition     2 years 3 months 3 days  
Stock options exercised (in shares) 6,000      
Stock options granted (in shares) 0   0  
Stock options expired (in shares) 11,000   106,000  
Stock options exercised, delivered to company     $ 51  
Stock options outstanding (in shares) 1,512,000   1,512,000  
Stock options outstanding, weighted average exercise price (in USD per share) $ 9.68   $ 9.68  
Stock options exercisable (in shares) 686,000   686,000  
Exercisable stock options, weighted average exercise price (in USD per share) $ 9.51   $ 9.51  
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation expense $ 2,598   $ 2,598  
Weighted-average period of recognition     2 years 29 days  
Restricted stock (in shares) 20,000   20,000  
Restricted stock, weighted average price (in USD per share) $ 9.09   $ 9.09  
Restricted stock vested (in shares) 119,000   221,000  
Restricted stock award, forfeitures, less than (in shares) 370   370  
Restricted stock surrendered 0   0  
Restricted stock outstanding (in shares) 297,000   297,000  
Unvested outstanding options (in shares) 0   0  
Performance-Based or Market-Based Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unvested outstanding options (in shares) 0   0  
Employee Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment $ 0 $ 16 $ 16 $ 30
ESPP Plan | Employee Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of Company's common stock share price 85.00%   85.00%