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Stockholder's Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended
--- | ---
Mar. 31, 2021 | Mar. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 932 | $ 805
Stock options issued ESPP (in shares) | 0 | 20,000
Stock Options |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 924 | $ 789
Unrecognized compensation expense | $ 5,300 |
Weighted-average period of recognition | 2 years 11 months 15 days |
Stock options exercised (in shares) | 154,000 |
Stock options exercised, delivered to company | $ 1,566 |
Stock options granted (in shares) | 496,000 | 0
Shares surrendered (in shares) | 0 |
Stock options expired (in shares) | 21,000 |
Stock options outstanding (in shares) | 2,357,000 |
Stock options outstanding, weighted average exercise price (in USD per share) | $ 9.89 |
Stock options exercisable (in shares) | 578,000 |
Exercisable stock options, weighted average exercise price (in USD per share) | $ 9.40 |
Restricted Stock |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Unrecognized compensation expense | $ 5,198 |
Weighted-average period of recognition | 2 years 10 months 17 days |
Shares surrendered (in shares) | 0 |
Restricted stock (in shares) | 149,000 |
Restricted stock, weighted average price (in USD per share) | $ 12.66 |
Restricted stock award, forfeitures, less than (in shares) | 1,000 |
Restricted stock vested (in shares) | 67,000 |
Restricted stock outstanding (in shares) | 637,000 |
Unvested outstanding options (in shares) | 0 |
Performance-Based or Market-Based Shares |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Unvested outstanding options (in shares) | 0 |
Employee Stock |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 8 | $ 16
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% |

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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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