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Stockholders' Equity (Details Textual) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019
Stock-Based Compensation (Textual) [Abstract] |  |
Stock-based compensation expense | $ 3,462 | $ 4,159
Number of shares authorized (in shares) | 4,800,000 |
Number of additional shares authorized (in shares) | 1,800,000 |
Stock options |  |
Stock-Based Compensation (Textual) [Abstract] |  |
Stock-based compensation expense | $ 1,401 | $ 1,076
Stock award, vesting period | 4 years |
Stock award, exercise period | 5 years |
Awards other than options, decrease in number of shares reserved for issuance (in shares) | 2 |
Common stock, shares reserved for issuance (in shares) | 14,215,000 |
Number of shares available for future grants (in shares) | 1,184,000 |
Dividend yield | 0.00% | 0.00%
Weighted-average fair value (in dollars per share) | $ 2.88 | $ 3.09
Stock options, total intrinsic value of options exercised | $ 269 | $ 108
Unrecognized compensation expense | $ 3,446 |
Weighted-average period of recognition | 2 years 7 months 17 days |
Cash received under stock option plans for exercises | $ 880 | 286
Restricted stock |  |
Stock-Based Compensation (Textual) [Abstract] |  |
Stock-based compensation expense | $ 2,013 | $ 3,023
Stock award, vesting period | 4 years |
Unrecognized compensation expense | $ 3,851 |
Weighted-average period of recognition | 2 years 6 months 7 days |
Granted (in shares) | 317,000 | 322,000
Weighted-average grant-date fair value (in dollars per share) | $ 8.19 | $ 9.67
Employee stock purchase plan |  |
Stock-Based Compensation (Textual) [Abstract] |  |
Stock-based compensation expense | $ 48 | $ 60
Number of shares available for future grants (in shares) | 847,000 |
Shares issued (in shares) | 44,000 | 45,000
Employee stock purchase plan, discount percentage attributable to compensation expense | 15.00% |
Cash received under the employee stock purchase plan | $ 336 | $ 414
Employee stock purchase plan | Maximum |  |
Stock-Based Compensation (Textual) [Abstract] |  |
Employee election percentage of pre-tax compensation withheld to purchase Company's common stock shares | 6.00% |
ESPP Plan | Stock options |  |
Stock-Based Compensation (Textual) [Abstract] |  |
Stock-based compensation expense | $ 3,414 | $ 4,099
ESPP Plan | Employee stock purchase plan |  |
Stock-Based Compensation (Textual) [Abstract] |  |
Number of shares authorized (in shares) | 1,650,000 |
Percentage of Company's common stock share price | 85.00% |

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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued 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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