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Stockholders' Equity and Stock Incentive Plans (Details Textual) - USD ($)
3 Months Ended 6 Months Ended
Jan. 01, 2020
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Mar. 12, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock repurchase, authorized   $ 0   $ 0    
2015 Plan [Member]            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock available for grants of awards   1,529,029   1,529,029    
Number of shares available for grant annual increase 1,066,403          
Employee Stock Option [Member]            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation expense, net   $ 500,000 $ 900,000 $ 1,100,000 $ 3,400,000  
Stock Options, unrecognized share-based compensation expense   1,000,000.0 3,600,000 $ 1,000,000.0 $ 3,600,000  
Share-based compensation expense not yet recognized, weighted-average period for recognition       7 months 6 days 1 year 4 months 24 days  
Performance Stock Units (PSUs) [Member]            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation expense, net   200,000 200,000 $ 700,000 $ 600,000  
Share-based compensation expense not yet recognized, weighted-average period for recognition       2 years 3 months 18 days 2 years 4 months 24 days  
Unamortized share-based compensation expense   5,100,000 4,000,000.0 $ 5,100,000 $ 4,000,000.0  
Performance Stock Units (PSUs) [Member] | 2018 Plan [Member]            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Actual number of PSUs granted to each recipient, eligible to vest 108,957     76,722    
Percentage of target number of PSU's eligible to vest at "maximum" performance level       70.40%    
Decrease in number of PSUs granted, eligible to vest       (32,235)    
Performance Stock Units (PSUs) [Member] | 2015 Plan [Member]            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Actual number of PSUs granted to each recipient, eligible to vest       62,791    
Percentage of target number of PSU's eligible to vest at "maximum" performance level       200.00%    
Restricted Stock Units (RSUs) [Member]            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation expense, net   1,100,000 1,000,000.0 $ 2,100,000 $ 2,100,000  
Share-based compensation expense not yet recognized, weighted-average period for recognition       2 years 3 months 18 days 2 years 3 months 18 days  
Unamortized share-based compensation expense   $ 9,800,000 $ 7,400,000 $ 9,800,000 $ 7,400,000  
Maximum [Member]            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock repurchase, authorized           $ 25,000,000.0