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Stockholders' Equity - Stock incentive plan (Details) - $ / shares
3 Months Ended 12 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Dec. 31, 2014
Jul. 28, 2004
Stockholders Equity        
Maximum number of shares authorized for grant     2,000,000  
Options granted (in shares) 158,000 143,000    
Number of shares available for granting options or stock awards 1,135,000      
Share Repurchase Authorization 2004        
Stockholders Equity        
Number of shares of common stock authorized to be repurchased       2,000,000
Number of shares purchased 0 50,220    
Number of shares retired   48,920    
Average purchase price of shares purchased and retired (in dollars per share)   $ 2.02    
Remaining number of shares authorized to be repurchased 384,809      
Restricted Stock        
Stockholders Equity        
Average purchase price of shares purchased and retired (in dollars per share) $ 1.86 $ 1.99    
Vesting rights percentage each year beginning on the second anniversary date of the grant     20.00%  
Service period over which the aggregate market value of stock is being amortized     6 years  
Number of shares purchased and retired 50,572 48,457