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Shareholders' Equity, Stock Plans and Preferred Stock - Shareholders' Equity and Stock Plans (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Mar. 31, 2020
Jun. 30, 2017
May 31, 2017
Jun. 30, 2016
May 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock based compensation $ 570 $ 573          
Total unrecognized stock-based compensation expense $ 196            
Chief Executive Officer              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Shares authorized under the Plan (in shares)     100,000        
Restricted stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Grants approved by the Board of Directors (in shares) 198,000 151,000          
Restricted stock | First anniversary              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting percentage of awards 33.33%            
Restricted stock | Second anniversary              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting percentage of awards 33.33%            
Restricted stock | Third anniversary              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting percentage of awards 33.33%            
SOSAR              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Weighted average remaining life of outstanding equity grants 5 years 3 months 3 days            
Weighted average remaining life of grants that are exercisable 5 years 3 months 3 days            
Stock Purchase Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock reserved for future issuance (in shares) 150,000            
Percentage of fair market value at date of grant (percentage) 85.00%            
Restriction period 2 years            
Shares authorized under the Plan (in shares)           350,000 150,000
2010 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock reserved for future issuance (in shares)       680,000 380,000