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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