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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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