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Stock-Based Compensation and Stock Options - Narrative (Details)
 1 Months Ended 12 Months Ended
Dec. 31, 2019
USD ($)
shares
May 31, 2019
installment
$ / shares
shares
Jun. 30, 2018
$ / shares
shares
May 31, 2018
$ / shares
shares
Apr. 30, 2018
installment
$ / shares
shares
Oct. 31, 2017
$ / shares
shares
Mar. 31, 2016
$ / shares
shares
Sep. 30, 2015
$ / shares
shares
Jan. 31, 2012
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
USD ($)
$ / shares
shares
Dec. 31, 2017
USD ($)
shares
Dec. 31, 2014
shares
Share-based Compensation Arrangement by Share-based Payment Award                          
Options granted (in shares)                   100,000 250,000    
Exercise price of employee option shares of common stock (in dollars per share) | $ / shares                   $ 19.28 $ 15.47    
Options forfeited (in shares)                   100,000 150,000    
Options outstanding (in shares) 750,000                 750,000 1,050,000 950,000  
Options exercised (in shares)                   300,000      
Stock Options                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Allocated share-based compensation expense (reversal of) | $                   $ 993,000 $ 900,000    
Unrecognized stock-based compensation expense | $ $ 419,000                 $ 419,000      
Unrecognized compensation expense, period for recognition (in years)                   3 years 4 months 24 days      
Stock Options | Employee Options 2012                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options granted (in shares)                 100,000        
Exercise price of employee option shares of common stock (in dollars per share) | $ / shares                 $ 28.98        
Options vest and become exercisable annually (in shares)                 25,000        
Options canceled (in shares)                   50,000     25,000
Options forfeited (in shares)                         25,000
Stock Options | Employee Options 2015                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options granted (in shares)               400,000          
Exercise price of employee option shares of common stock (in dollars per share) | $ / shares               $ 8.07          
Options vest and become exercisable quarterly (in shares)               50,000          
Options vested (in shares)                   400,000      
Options outstanding (in shares) 400,000                 400,000      
Stock Options | Employee Options 2016                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options granted (in shares)             150,000            
Exercise price of employee option shares of common stock (in dollars per share) | $ / shares             $ 8.55            
Options vest and become exercisable annually (in shares)             37,500            
Shares issued (in shares) 4,000                 4,000      
Options exercised (in shares)                   50,000      
Unrecognized stock-based compensation expense | $ $ 0                 $ 0      
Stock Options | Employee Options 2017                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options granted (in shares)                   400,000      
Exercise price of employee option shares of common stock (in dollars per share) | $ / shares           $ 6.95              
Options vest and become exercisable quarterly (in shares)           50,000              
Options vested (in shares) 150,000,000                        
Allocated share-based compensation expense (reversal of) | $                   $ 573,000      
Options outstanding (in shares) 150,000                 150,000      
Options exercised (in shares)                   250,000      
Unrecognized stock-based compensation expense | $ $ 418,000                 $ 418,000      
Unrecognized compensation expense, period for recognition (in years)                   2 years 5 months 1 day      
Stock Options | April 2018 Plan                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options granted (in shares)         50,000                
Exercise price of employee option shares of common stock (in dollars per share) | $ / shares         $ 10.50                
Options canceled (in shares)                   50,000      
Allocated share-based compensation expense (reversal of) | $                   $ 34,000      
Vesting installments | installment         12                
Stock Options | May 2018 Plan                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options granted (in shares)       50,000                  
Exercise price of employee option shares of common stock (in dollars per share) | $ / shares       $ 14.70                  
Options vest and become exercisable annually (in shares)       12,500                  
Options vested (in shares)                   12,500      
Options outstanding (in shares) 50,000                 50,000      
Unrecognized stock-based compensation expense | $ $ 213,000                 $ 213,000      
Unrecognized compensation expense, period for recognition (in years)                   2 years 4 months 24 days      
Stock Options | May 2019 Plan                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options granted (in shares) 100,000 100,000                      
Exercise price of employee option shares of common stock (in dollars per share) | $ / shares   $ 19.28                      
Options vested (in shares) 25,000 10,000                      
Vesting installments | installment   3                      
Unrecognized stock-based compensation expense | $ $ 420,000                 $ 420,000      
Unrecognized compensation expense, period for recognition (in years)                   3 years 4 months 24 days      
Executive Officer | Stock Options | Employee Options 2016                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options canceled (in shares)                       12,500  
Options forfeited (in shares)                     50,000 37,500  
Allocated share-based compensation expense (reversal of) | $                     $ (59,000) $ (19,000)  
Nonemployee Consultant | Stock Options | June 2018 Plan                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options granted (in shares)     100,000                    
Exercise price of employee option shares of common stock (in dollars per share) | $ / shares     $ 17.75                    
Options vest and become exercisable annually (in shares)     20,000                    
Options canceled (in shares)     20,000                    
Options forfeited (in shares)     80,000                    
Employee | Stock Options | June 2018 Plan                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options granted (in shares)     50,000                    
Exercise price of employee option shares of common stock (in dollars per share) | $ / shares     $ 16.65                    
Options vest and become exercisable annually (in shares)     12,500                    
Options vested (in shares) 12,500                        
Options outstanding (in shares) 50,000                 50,000      
Unrecognized stock-based compensation expense | $ $ 206,000                 $ 206,000      
Unrecognized compensation expense, period for recognition (in years)                   2 years 6 months      
July 31, 2018 | Nonemployee Consultant | Stock Options | June 2018 Plan                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options vested (in shares)     30,000                    
June 30, 2019 | Nonemployee Consultant | Stock Options | June 2018 Plan                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options vested (in shares)     50,000                    
September 2019 | Stock Options | May 2019 Plan                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options vested and exercisable in future periods (in shares)   15,000                      
May 20, 2021 | Stock Options | May 2019 Plan                          
Share-based Compensation Arrangement by Share-based Payment Award                          
Options vested and exercisable in future periods (in shares)   75,000