Shareholders' Equity, Stock Plans and Preferred Stock - Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding and Exercisable (Details) - Stock Options and Stock Appreciation Rights (SARs) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2019	Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding at beginning of period (in shares)	76	76	122
Granted (in shares)	0
Exercised (in shares)	(2)
Expired or cancelled (in shares)	(44)
Outstanding at end of period (in shares)	76
Number of Shares, Exercisable (in shares)		66
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]
Weighted-Average Exercise Price, Outstanding at beginning of period (in dollars per share)	$ 7.29
Weighted-Average Exercise Price, Granted (in dollars per share)	0.00
Weighted-Average Exercise Price, Exercised (in dollars per share)	2.37
Weighted-Average Exercise Price, Expired or cancelled (in dollars per share)	7.06
Weighted-Average Exercise Price, Outstanding at end of period (in dollars per share)	$ 7.55
Weighted-Average Exercise Price, Exercisable (in dollars per share)		$ 7.46