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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%