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Stockholder's Equity (Details) - USD ($)
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Allocated share-based compensation expense $ 805,000 $ 874,000
Stock options exercised (in shares) 0  
Stock options granted (in shares) 0  
Stock options expired (in shares) 95,000  
Stock options outstanding (in shares) 1,529,000  
Stock options outstanding, weighted average exercise price (in USD per share) $ 9.68  
Stock options exercisable (in shares) 370,000  
Exercisable stock options, weighted average exercise price (in US per share) $ 9.60  
Restricted stock surrendered (in shares) 0  
Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Allocated share-based compensation expense $ 789,000 860,000
Unrecognized compensation expense $ 2,724,000  
Weighted-average period of recognition 2 years 4 months 28 days  
Restricted stock    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Unrecognized compensation expense $ 2,869,000  
Weighted-average period of recognition 2 years 3 months 14 days  
Restricted stock options (in shares) 0  
Restricted stock award, forfeitures $ 0  
Restricted stock vested (in shares) 102,000  
Restricted stock outstanding, nonvested (in shares) 397,000  
Employee Stock | ESPP Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Allocated share-based compensation expense $ 16,000 $ 14,000
Restricted stock options (in shares) 20,000 23,000
Percentage of Company's common stock share price 85.00%