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) - SOSAR - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding at beginning of period (in shares)	65	65	76
Granted (in shares)	0
Exercised (in shares)	0
Expired or cancelled (in shares)	(11)
Outstanding at end of period (in shares)	65
Number of Shares, Exercisable (in shares)		65
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)	$ 7.55
Weighted-Average Exercise Price, Granted (in dollars per share)	0
Weighted-Average Exercise Price, Exercised (in dollars per share)	0
Weighted-Average Exercise Price, Expired or cancelled (in dollars per share)	5.45
Weighted-Average Exercise Price, Outstanding at end of period (in dollars per share)	$ 7.92
Weighted-Average Exercise Price, Exercisable (in dollars per share)		$ 7.92