Condensed Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2020	Dec. 31, 2019
Statement of Financial Position [Abstract]
Allowances for contract receivables	$ 1,291	$ 1,781
Accumulated amortization on intangible assets	$ 47,391	$ 47,097
Common stock, par value (in usd per share)
Common stock, stated value per share (in usd per share)	$ 0.01	$ 0.01
Common stock, shares authorized (in shares)	50,000,000	50,000,000
Common stock, shares issued (in shares)	23,595,079	23,369,433
Common stock, shares outstanding (in shares)	23,595,079	23,369,433