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Stock-Based Compensation (Details)
3 Months Ended 6 Months Ended
Nov. 12, 2020
shares
Nov. 15, 2018
shares
Feb. 02, 2018
shares
Sep. 27, 2010
$ / shares
shares
Nov. 21, 2006
$ / shares
shares
Dec. 31, 2020
USD ($)
installment
$ / shares
shares
Sep. 30, 2020
shares
Dec. 31, 2019
USD ($)
Dec. 31, 2020
USD ($)
installment
$ / shares
shares
Dec. 31, 2019
USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common stock issued under employee stock purchase plan (in shares)             23,000      
Stock based compensation reflected in additional paid in capital | $           $ 1,000,000.0   $ 1,400,000 $ 1,500,000 $ 2,700,000
Increase in share-based compensation included in other accrued expenses | $           $ 17,000   $ 100,000 $ 100,000 $ 200,000
2007 Long-Term Incentive Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Number of shares authorized (in shares)         1,400,000          
Right to purchase common stock, minimum price per share (USD per share) | $ / shares         $ 4.41          
Right to purchase common stock, maximum price per share (USD per share) | $ / shares         $ 10.50          
Contractual term of stock options granted         10 years          
Options outstanding, net of awards expired (in shares)           17,000     17,000  
2007 Long-Term Incentive Plan | Minimum                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Share based payment award, vesting period         1 year          
2007 Long-Term Incentive Plan | Maximum                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Share based payment award, vesting period         3 years          
2010 Long-Term Incentive Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Number of shares authorized (in shares)     475,000 1,000,000.0            
Right to purchase common stock, minimum price per share (USD per share) | $ / shares       $ 9.31            
Right to purchase common stock, maximum price per share (USD per share) | $ / shares       $ 20.09            
Contractual term of stock options granted       10 years            
Options outstanding, net of awards expired (in shares)           27,000     27,000  
2010 Long-Term Incentive Plan | Minimum                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Share based payment award, vesting period       1 year            
2010 Long-Term Incentive Plan | Maximum                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Share based payment award, vesting period       4 years            
2017 Long-Term Incentive Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Number of shares authorized (in shares)           2,900,000     2,900,000  
Share based payment award, vesting period                 3 years  
Options outstanding, net of awards expired (in shares)           200,000     200,000  
Number of additional shares authorized (in shares) 650,000 715,000 425,000              
Right to purchase common stock, non-vested and outstanding, exercise price (USD per share) | $ / shares           $ 4.44     $ 4.44  
2017 Long-Term Incentive Plan Excluding 2010 Long-Term Incentive Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Number of shares authorized (in shares)     2,440,000              
Employee Stock Purchase Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common Stock, capital shares reserved for future issuance (in shares)           400,000     400,000  
Shares available for issuance under the ESPP (in shares)           300,000     300,000  
Purchase price of common stock (in percentage)                 85.00%  
Maximum employee subscription rate (in percentage)           15.00%     15.00%  
Maximum number of shares per employee                 3,000  
Amount in excess of fair market value of stock for option not to be granted | $           $ 25,000     $ 25,000  
Common stock issued under employee stock purchase plan (in shares)                 23,000  
Performance Shares | 2017 Performance Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Share based payment award, vesting period                 3 years  
Shares issued (in shares)                 0  
Number of vesting installments | installment           3     3