Stockholders' Equity (Details Textual) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Stock-Based Compensation (Textual) [Abstract]
Stock-based compensation expense	$ 3,321	$ 3,518	$ 3,651
Number of shares authorized (in shares)	3,000,000
Number of additional shares authorized (in shares)	1,690,000
Stock-based compensation awards excluding ESPP
Stock-Based Compensation (Textual) [Abstract]
Stock-based compensation expense	$ 3,267	3,468
Stock options
Stock-Based Compensation (Textual) [Abstract]
Stock-based compensation expense	$ 856	$ 707	$ 702
Stock award, vesting period	4 years
Stock award, exercise period	5 years
Awards other than options, decrease in number of shares reserved for issuance (in shares)	0
Common stock, shares reserved for issuance (in shares)	12,415,000
Number of shares available for future grants (in shares)	944,000
Dividend yield	0.00%	0.00%	0.00%
Weighted-average fair value per share, options granted (in dollars per share)	$ 3.82	$ 2.74	$ 2.77
Stock options, total intrinsic value of options exercised	$ 163	$ 149	$ 484
Unrecognized compensation expense	$ 2,383
Weighted-average period of recognition (in years)	2 years 9 months
Cash received under stock option plans for exercises	$ 317	1,236	2,438
Restricted stock
Stock-Based Compensation (Textual) [Abstract]
Stock-based compensation expense	$ 2,411	$ 2,760	$ 2,938
Stock award, vesting period	4 years
Unrecognized compensation expense	$ 3,573
Weighted-average period of recognition (in years)	2 years 12 days
Granted (in shares)	200,000	271,000	424,000
Weighted-average grant-date fair value (in dollars per share)	$ 11.47	$ 8.83	$ 8.68
Employee stock purchase plan
Stock-Based Compensation (Textual) [Abstract]
Stock-based compensation expense	$ 54	$ 50	$ 11
Number of shares available for future grants (in shares)	937,000
Shares issued (in shares)	17,000	46,000	18,000
Employee stock purchase plan, discount percentage attributable to compensation expense	15.00%
Cash received under the employee stock purchase plan	$ 167	$ 358	$ 146
Employee stock purchase plan \| Maximum
Stock-Based Compensation (Textual) [Abstract]
Employee election percentage of pre-tax compensation withheld to purchase Company's common stock shares	6.00%
ESPP Plan \| Employee stock purchase plan
Stock-Based Compensation (Textual) [Abstract]
Number of shares authorized (in shares)	1,650,000
Percentage of Company's common stock share price	85.00%

Share-Based Compensation Arrangement By Share Based Payment Award, Award Exercise Period

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Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Awards, Pre-Tax Contibution Percentage Of Compensation

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Share-Based Compensation Arrangement By Share-Based Payment Award, Non-Option Equity Instrument, Discount Percentage Attributable to Compensation Expense

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Share-Based Compensation Arrangement By Share-Based Payment Award, Non-Option Equity Instrument, Percentage Of Share Price

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Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Reduction Of Number of Shares Reserved For Issuance

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Stock based compensation.

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Represents the expense recognized during the period arising from equity-based compensation arrangements (for example, shares of stock, unit, stock options or other equity instruments) with employees, directors and certain consultants qualifying for treatment as employees.

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Aggregate number of common shares reserved for future issuance.

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Unrecognized cost of unvested share-based compensation awards.

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Weighted average period over which unrecognized compensation is expected to be recognized for equity-based compensation plans, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Amount of cash inflow from issuance of shares under share-based compensation arrangement, excluding stock option exercises.

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Amount of cash inflow from exercise of stock options granted under share-based compensation arrangement.

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Period which an employee's right to exercise an award is no longer contingent on satisfaction of either a service condition, market condition or a performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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Number of additional shares authorized for issuance under an established share-based compensation plan.

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The maximum number of shares (or other type of equity) originally approved (usually by shareholders and board of directors), net of any subsequent amendments and adjustments, for awards under the equity-based compensation plan. As stock or unit options and equity instruments other than options are awarded to participants, the shares or units remain authorized and become reserved for issuance under outstanding awards (not necessarily vested).

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Number of share instruments newly issued under a share-based compensation plan.

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