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Debt and Contingent Obligations - Xcel Term Loan Narrative (Details) - USD ($) |  | 3 Months Ended | 9 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Feb. 11, 2019 | Sep. 30, 2019 | Sep. 30, 2018 | Sep. 30, 2019 | Sep. 30, 2018 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | May 01, 2020 | Apr. 30, 2020 | Feb. 10, 2019
Xcel Term Loan |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Aggregate interest expense on Prior Term Debt and Xcel Term Loan |  | $ 317,000 | $ 215,000 | $ 903,000 | $ 677,000 |  |  |  |  |  |
Secured Debt |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Percentage of excess cash flow | 10.00% |  |  |  |  |  |  |  |  |  |
Secured Debt | Second Amended And Restated Loan And Security Agreement |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Face amount of loan | $ 22,000,000.0 |  |  |  |  |  |  |  |  |  | $ 14,500,000
Upfront fee for debt issuance | 90,000 |  |  |  |  |  |  |  |  |  |
Minimum net worth required to meet loan covenant | 90,000,000.0 |  |  |  |  |  |  |  |  |  |
Maximum capital expenditures required to meet loan covenants |  |  |  |  |  |  |  | $ 1,700,000.0 |  |  |
Secured Debt | Term Loan A |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Face amount of loan | $ 7,300,000 |  |  |  |  |  |  |  |  |  |
Stated interest rate (as percentage) | 5.10% |  |  |  |  |  |  |  |  |  |
Secured Debt | Additional Term Loan |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Face amount of loan | $ 7,500,000.0 |  |  |  |  |  |  |  |  |  |
Loss on extinguishment of debt |  |  |  | $ 200,000 |  |  |  |  |  |  |
Secured Debt | Term Loan B |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Face amount of loan | $ 14,700,000 |  |  |  |  |  |  |  |  |  |
Stated interest rate (as percentage) | 6.25% |  |  |  |  |  |  |  |  |  |
Revolving Credit Facility | Second Amended And Restated Loan And Security Agreement |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Capacity available to convert to incremental term loans | $ 5,000,000.0 |  |  |  |  |  |  |  |  |  |
Revolving Credit Facility | Second Amended And Restated Loan And Security Agreement | Base Rate |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Basis spread on variable rate | 2.00% |  |  |  |  |  |  |  |  |  |
Debt Termination Period, On Or Before Second Anniversary | Secured Debt | Term Loan A |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Termination fee percentage | 1.00% |  |  |  |  |  |  |  |  |  |
Debt Termination Period, On Or Before Second Anniversary | Secured Debt | Term Loan B |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Termination fee percentage | 2.00% |  |  |  |  |  |  |  |  |  |
Debt Termination Period, After Second Anniversary But Before Third Anniversary | Secured Debt | Term Loan A |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Termination fee percentage | 0.50% |  |  |  |  |  |  |  |  |  |
Debt Termination Period, After Second Anniversary But Before Third Anniversary | Secured Debt | Term Loan B |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Termination fee percentage | 1.00% |  |  |  |  |  |  |  |  |  |
Debt Termination Period, After Third Anniversary | Secured Debt |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Termination fee percentage | 0.00% |  |  |  |  |  |  |  |  |  |
Forecast | Secured Debt | Second Amended And Restated Loan And Security Agreement |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Minimum liquid assets to meet loan covenants |  |  |  |  |  |  |  |  | $ 5,000,000.0 | $ 4,000,000.0 |
Maximum capital expenditures required to meet loan covenants |  |  |  |  |  | $ 700,000.0 | $ 900,000.0 |  |  |  |

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