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Stockholder's Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment $ 1,042 $ 912 $ 3,029 $ 2,459
Stock options exercised, delivered to company 143      
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment 1,031 899 2,988 $ 2,430
Unrecognized compensation expense $ 4,045   $ 4,045  
Weighted-average period of recognition     2 years 7 months 13 days  
Stock options exercised (in shares) 18,000   263,000  
Stock options exercised, delivered to company     $ 2,615  
Stock options granted (in shares) 0   496,000 654,000
Stock options expired (in shares) 48,000   126,000  
Stock options outstanding (in shares) 2,142,000   2,142,000  
Stock options outstanding, weighted average exercise price (in USD per share) $ 9.92   $ 9.92  
Stock options exercisable (in shares) 846,000   846,000  
Exercisable stock options, weighted average exercise price (in USD per share) $ 9.33   $ 9.33  
Restricted stock surrendered (in shares) 0   0  
Employee Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment $ 11 $ 13    
Employee Stock | ESPP Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment     $ 41 $ 29
Percentage of Company's common stock share price 85.00%   85.00%  
Stock options issued ESPP (in shares) 26,000 0 26,000 20,000
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation expense $ 4,469   $ 4,469  
Weighted-average period of recognition     2 years 4 months 24 days  
Restricted stock (in shares) 60,000   217,000  
Restricted stock, weighted average price (in USD per share) $ 11.00   $ 12.23  
Restricted stock award, forfeitures, less than (in shares) 17,000   37,000  
Restricted stock vested (in shares) 68,000   228,000  
Restricted stock surrendered (in shares) 0   0  
Restricted stock outstanding (in shares) 509,000   509,000  
Unvested outstanding options (in shares) 0   0  
Performance-Based or Market-Based Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unvested outstanding options (in shares) 0   0