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Stockholder's Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based payment | $ 1,055 | $ 742 | $ 1,987 | $ 1,547
Stock options exercised, delivered to company | 907 |  |  |
Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based payment | 1,033 | 742 | 1,957 | $ 1,531
Unrecognized compensation expense | $ 4,665 |  | $ 4,665 |
Weighted-average period of recognition |  |  | 2 years 10 months 20 days |
Stock options exercised (in shares) | 91,000 |  | 245,000 |
Stock options exercised, delivered to company |  |  | $ 2,473 |
Stock options granted (in shares) | 0 |  | 496,000 | 0
Stock options expired (in shares) | 57,000 |  | 78,000 |
Stock options outstanding (in shares) | 2,208,000 |  | 2,208,000 |
Stock options outstanding, weighted average exercise price (in USD per share) | $ 9.91 |  | $ 9.91 |
Stock options exercisable (in shares) | 705,000 |  | 705,000 |
Exercisable stock options, weighted average exercise price (in USD per share) | $ 9.56 |  | $ 9.56 |
Restricted stock surrendered (in shares) | 0 |  | 0 |
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation expense | $ 4,553 |  | $ 4,553 |
Weighted-average period of recognition |  |  | 2 years 10 months 9 days |
Restricted stock (in shares) | 8,000 |  | 157,000 |
Restricted stock, weighted average price (in USD per share) | $ 13.44 |  | $ 12.70 |
Restricted stock award, forfeitures, less than (in shares) | 19,000 |  | 20,000 |
Restricted stock vested (in shares) | 93,000 |  | 160,000 |
Restricted stock surrendered (in shares) | 0 |  | 0 |
Restricted stock outstanding (in shares) | 533,000 |  | 533,000 |
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 | $ 22 | $ 0 |  |
Employee Stock | ESPP Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based payment |  |  | $ 30 | $ 16
Percentage of Company's common stock share price | 85.00% |  | 85.00% |
Stock options issued ESPP (in shares) | 0 | 0 | 0 | 20,000

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