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Shareholders’ Equity and Stock Incentive Plans (Details) - USD ($)
3 Months Ended
Jan. 01, 2020
Mar. 31, 2021
Mar. 31, 2020
Mar. 12, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock repurchase, authorized       $ 25,000,000
2015 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock available for grants of awards (in shares)   2,299,828    
Number of shares available for grant annual increase (in shares) 1,126,361      
Option        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based compensation expense, net   $ 200,000 $ 600,000  
Stock options, unrecognized share-based compensation expense   0 $ 1,500,000  
Share-based compensation expense not yet recognized, weighted-average period for recognition     9 months 18 days  
Performance Stock Units (PSUs)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based compensation expense, net   $ 1,200,000 $ 500,000  
Share-based compensation expense not yet recognized, weighted-average period for recognition   2 years 4 months 24 days 2 years 4 months 24 days  
Restricted Stock Units Outstanding, Cancelled (in shares)   (77,725)    
Restricted Stock Units Outstanding, Granted (in shares)   119,073    
Number of PSUs granted to each recipient, vested (in shares)   89,920    
Percentage of target number of PSU's eligible to vest at "maximum" performance level   200.00%    
Unamortized share-based compensation expense   $ 6,200,000 $ 5,800,000  
Performance Stock Units (PSUs) | November 2017        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of PSUs granted to each recipient, eligible to vest (in shares)   62,791    
Performance Stock Units (PSUs) | March 2019        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of PSUs granted to each recipient, eligible to vest (in shares)   14,934    
Performance Stock Units (PSUs) | 2018 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted Stock Units Outstanding, Granted (in shares) 71,468      
Performance Stock Units (PSUs) | 2019 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of PSUs granted to each recipient, eligible to vest (in shares)   189,646    
Restricted Stock Units Outstanding, Granted (in shares)   204,580    
Number of PSUs granted to each recipient, vested (in shares)   18,452    
Restricted Stock Units (RSUs)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based compensation expense, net   $ 1,300,000 $ 1,000,000.0  
Share-based compensation expense not yet recognized, weighted-average period for recognition   2 years 4 months 24 days 2 years 7 months 6 days  
Restricted Stock Units Outstanding, Cancelled (in shares)   (2,606)    
Restricted Stock Units Outstanding, Granted (in shares)   211,073    
Number of PSUs granted to each recipient, vested (in shares)   313,652    
Unamortized share-based compensation expense   $ 11,300,000 $ 8,600,000