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Stock-Based Compensation, Summary of Activity (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Share-based Compensation [Abstract] |  |  |
Per share market price of common stock on last trading day of year (in dollars per share) | $ 3.80 |  |
Proceeds from exercise of options | $ 816 | $ 135 |
Stock Options [Member] |  |  |
Options, number of shares [Roll Forward] |  |  |
Outstanding, beginning of period (in shares) | 5,998,837 | 5,138,066 |
Options granted (in shares) | 345,000 | 1,095,000 |
Options exercised (in shares) | (663,816) | (117,229) |
Options cancelled (in shares) | (50,000) | (117,000) |
Outstanding, end of period (in shares) | 5,630,021 | 5,998,837 |
Options exercisable, end of period (in shares) | 4,079,687 |  |
Options, weighted average exercise price [Roll Forward] |  |  |
Outstanding, beginning of period (in dollars per share) | $ 7.72 | $ 8.41 |
Options granted (in dollars per share) | 6.06 | 3.52 |
Options exercised (in dollars per share) | 1.23 | 1.15 |
Options cancelled (in dollars per share) | 4.95 | 5.34 |
Outstanding, end of period (in dollars per share) | 8.49 | $ 7.72 |
Options exercisable, end of period (in dollars per share) | $ 10.10 |  |
Options, additional disclosures [Abstract] |  |  |
Options outstanding, weighted average remaining contractual life | 6 years 1 month 10 days |  |
Options exercisable, weighted average remaining contractual life | 5 years 3 months 25 days |  |
Options outstanding, aggregate intrinsic value | $ 516 |  |
Options exercisable, aggregate intrinsic value | 314 |  |
Share-based Compensation [Abstract] |  |  |
Proceeds from exercise of options | 816 | $ 135 |
Total intrinsic value of options exercised | $ 2,473 | $ 46 |
Restricted Stock Units (RSUs) [Member] |  |  |
RSUs, number of RSUs [Roll Forward] |  |  |
Outstanding, beginning of period (in shares) | 504,994 | 469,661 |
RSUs granted (in shares) | 229,996 | 246,663 |
RSUs vested (in shares) | (207,334) | (211,330) |
RSUs cancelled (in shares) | (29,167) |  |
Outstanding, end of period (in shares) | 498,489 | 504,994 |
RSUs, weighted average grant date fair value [Abstract] |  |  |
Outstanding, beginning of period (in dollars per share) | $ 3.83 | $ 5.19 |
RSUs granted (in dollars per share) | 6.06 | 3.26 |
RSUs vested (in dollars per share) | 4.07 | 6.19 |
RSUs cancelled (in dollars per share) | 4.65 |  |
Outstanding, end of period (in dollars per share) | $ 4.71 | $ 3.83 |
RSUs, aggregate intrinsic value [Abstract] |  |  |
Outstanding, end of period | $ 86 | $ 0 | $ 0

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