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Stockholder's Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Jun. 10, 2020
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Jun. 09, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Increase in shares reserved for issuance (in shares) 1,800,000          
Shares reserved for issuance (in shares) 4,800,000         3,000,000
Share-based payment   $ 912 $ 1,112 $ 2,459 $ 3,019  
Stock options issued ESPP (in shares)   0 22,000 20,000 45,000  
Stock Options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based payment   $ 899 $ 1,093 $ 2,430 $ 2,970  
Unrecognized compensation expense   $ 3,864   $ 3,864    
Weighted-average period of recognition       2 years 10 months 2 days    
Stock options exercised (in shares)   0   6,000    
Stock options granted (in shares)   654,000   654,000    
Stock options expired (in shares)   18,000   124,000    
Stock options exercised, delivered to company       $ 51    
Stock options outstanding (in shares)   2,148,000   2,148,000    
Stock options outstanding, weighted average exercise price (in USD per share)   $ 9.20   $ 9.20    
Stock options exercisable (in shares)   692,000   692,000    
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   $ 4,418   $ 4,418    
Weighted-average period of recognition       2 years 8 months 15 days    
Restricted stock (in shares)   297,000   317,000    
Restricted stock, weighted average price (in USD per share)   $ 8.13   $ 8.19    
Restricted stock award, forfeitures, less than (in shares)   7,000   7,000    
Restricted stock vested (in shares)   14,000   235,000    
Restricted stock surrendered (in shares)   0   0    
Restricted stock outstanding (in shares)   573,000   573,000    
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   $ 13 $ 19 $ 29 $ 49  
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%