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Stockholder's Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Share-based payment $ 881 $ 932
Stock options exercised (in shares) 230  
Stock options cancelled (in shares) 193  
Stock Options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Share-based payment $ 859 $ 924
Unrecognized compensation expense $ 2,713  
Weighted-average period of recognition 2 years 1 month 13 days  
Shares issued (in shares) 23,000  
Restricted stock surrendered (in shares) 14,000  
Stock options granted (in shares) 0 496,000
Stock options expired (in shares) 170,000  
Stock options outstanding (in shares) 1,727,000  
Stock options outstanding, weighted average exercise price (in USD per share) $ 10.23  
Stock options exercisable (in shares) 771,000  
Exercisable stock options, weighted average exercise price (in USD per share) $ 10.36  
Stock Options | President And Chief Executive Officer    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Compensation cost (reduction of cost) $ (85)  
Stock Options | Employees    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Compensation cost (reduction of cost) (81)  
Employee Stock    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Share-based payment 22 $ 8
Employee Stock | ESPP Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Share-based payment $ 22 $ 8
Percentage of Company's common stock share price 85.00%  
Stock options issued ESPP (in shares) 22,000 0
Restricted Stock    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Unrecognized compensation expense $ 2,756  
Weighted-average period of recognition 1 year 11 months 26 days  
Restricted stock surrendered (in shares) 0  
Restricted stock (in shares) 0  
Restricted stock award, forfeitures, less than (in shares) 60,000  
Restricted stock vested (in shares) 68,000  
Restricted stock outstanding (in shares) 362,000  
Unvested outstanding options (in shares) 0  
Restricted Stock | President And Chief Executive Officer    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Compensation cost (reduction of cost) $ 186  
Restricted Stock | Employees    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Compensation cost (reduction of cost) $ 57  
Performance-Based or Market-Based Shares    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Unvested outstanding options (in shares) 0