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Principal Industry (Details) - USD ($)
12 Months Ended
Oct. 16, 2020
Jun. 12, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Principal Industry (Details) [Line Items]            
Letters of Credit Outstanding, Amount     $ 10,800,000      
Cash, Cash Equivalents, Restricted Cash and Restricted Cash Equivalents     92,693,000 $ 66,286,000 $ 58,205,000 $ 64,977,000
Net Cash Provided by (Used in) Operating Activities     43,567,000 21,826,000 (624,000)  
Value of debt outstanding     34,134,000 52,658,000    
Paid-in-Kind Interest     4,366,000 1,725,000 $ 0  
Paycheck Protection Program Loan [Member] | Unsecured Debt [Member]            
Principal Industry (Details) [Line Items]            
Debt Instrument, Face Amount   $ 6,200,000        
Debt Instrument, Interest Rate, Stated Percentage   1.00%        
Debt Instrument, Periodic Payment   $ 261,275        
Notes Payable to Bank, Current     900,000      
Notes Payable to Bank, Noncurrent     5,300,000      
New Term Loan Agreement [Member] | Secured Debt [Member]            
Principal Industry (Details) [Line Items]            
Value of debt outstanding     124,500,000      
Paid-in-Kind Interest     4,700,000      
Debt Instrument, Covenant Compliance, EBITDA Requirment     34,000,000.0      
Debt Instrument, Covenant Compliance, Minimum Liquidity     10,000,000.0      
Outside the United States [Member]            
Principal Industry (Details) [Line Items]            
Cash, Cash Equivalents, Restricted Cash and Restricted Cash Equivalents     $ 48,700,000 $ 27,000,000.0    
Forecast [Member] | New Term Loan Agreement [Member] | Secured Debt [Member]            
Principal Industry (Details) [Line Items]            
Debt Instrument, Covenant Compliance, EBITDA Requirment $ 25,000,000.0          
Debt, Pre-payment 15,000,000.0          
Forecast [Member] | New Term Loan Agreement [Member] | Secured Debt [Member] | Payment No Later than Third Quarter 2021 [Member]            
Principal Industry (Details) [Line Items]            
Debt, Pre-payment $ 5,000,000.0