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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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