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Convertible Subordinated Notes (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Apr. 04, 2019
Dec. 31, 2018
Dec. 24, 2018
May 08, 2018
May 07, 2018
Mar. 19, 2014
Debt Instrument [Line Items]                    
Effect of dilutive securities, Convertible junior subordinated debentures (in shares) 0 0 0 449,000            
Carrying Values of Liability and Equity Components, Convertible Subordinated Notes                    
Debt issuance costs $ (900,000)   $ (900,000)     $ (955,000)        
Carrying value of the liability component 319,577,000   319,577,000     319,108,000        
Amortization of Debt Issuance Costs     289,000 $ 420,000            
Accumulated Amortization, Debt Issuance Costs $ 276,000   $ 276,000     109,000        
Convertible Subordinated Notes [Member]                    
Debt Instrument [Line Items]                    
Debt Instrument, Discount Rate 11.40% 11.40% 11.40% 11.40%            
Debt Instrument, Unamortized Debt Issuance Costs 3.20% 3.20% 3.20% 3.20%            
Stated interest rate percentage 2.75%   2.75%             2.75%
Carrying Values of Liability and Equity Components, Convertible Subordinated Notes                    
Convertible subordinated notes, principal amount         $ 25,000 6,346,000 $ 22,400,000 $ 28,800,000 $ 115,000,000 $ 143,750,000
Unamortized discount of liability component $ (382,000)   $ (382,000)     (560,000)        
Debt issuance costs (35,000)   (35,000)     (54,000)        
Carrying value of the liability component 5,902,000   5,902,000     5,732,000 $ 6,319,000      
Carrying value of the equity component 789,000   789,000     789,000        
Convertible subordinated notes, fair value 7,100,000   7,100,000              
Contractual coupon interest expense 43,000 $ 198,000 131,000 $ 1,700,000            
Accretion of discount, convertible subordinated notes 61,000 246,000 178,000 1,961,000            
Amortization of Debt Issuance Costs 6,000 $ 27,000 19,000 $ 221,000            
Accumulated Amortization, Debt Issuance Costs $ 125,000   $ 125,000     $ 106,000