The Company, Earnings Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Earnings Per Share [Abstract]
Series C Convertible Preferred Stock, shares outstanding (in shares)	0		0		0
Weighted average number of shares outstanding during the period basic (in shares)	34,318,495	33,731,739	33,839,554	33,448,030
Basic earnings (loss) per share (in dollars per share)	$ 0.03	$ (0.05)	$ (0.04)	$ (0.08)
Diluted earnings (loss) per share (in dollars per share)	$ 0.03	$ (0.05)	$ (0.04)	$ (0.08)
Earnings Per Share, Basic and Diluted, Other Disclosures [Abstract]
Potential common stock equivalents (in shares)	5,365,521	5,756,838	6,437,147	5,791,899
Series C Convertible Preferred Stock [Member]
Earnings Per Share [Abstract]
Series C Convertible Preferred Stock, shares outstanding (in shares)	0		0
Earnings (loss) attributable to each class	$ 0	$ 0	$ 0	$ (22)
Weighted average number of shares outstanding during the period basic (in shares)	0	0	0	740
Weighted average number of shares outstanding during the period diluted (in shares)	0	0	0	740
Basic earnings (loss) per share (in dollars per share)	$ 0	$ 0	$ 0	$ (29.93)
Diluted earnings (loss) per share (in dollars per share)	$ 0	$ 0	$ 0	$ (29.93)
Common Stock [Member]
Earnings Per Share [Abstract]
Earnings (loss) attributable to each class	$ 1,082	$ (1,680)	$ (1,336)	$ (2,693)
Weighted average number of shares outstanding during the period basic (in shares)	33,876,568	33,731,739	33,839,554	33,448,030
Weighted average number of shares outstanding during the period diluted (in shares)	34,318,495	33,731,739	33,839,554	33,448,030
Basic earnings (loss) per share (in dollars per share)	$ 0.03	$ (0.05)	$ (0.04)	$ (0.08)
Diluted earnings (loss) per share (in dollars per share)	$ 0.03	$ (0.05)	$ (0.04)	$ (0.08)
Common Stock Purchase Warrants [Member]
Earnings Per Share, Basic and Diluted, Other Disclosures [Abstract]
Potential common stock equivalents (in shares)	0	697,154	3,174	723,527
Restricted Stock Units [Member]
Earnings Per Share, Basic and Diluted, Other Disclosures [Abstract]
Potential common stock equivalents (in shares)	12,671	151,646	49,685	160,334
Common Stock Options [Member]
Earnings Per Share, Basic and Diluted, Other Disclosures [Abstract]
Potential common stock equivalents (in shares)	5,352,850	4,908,038	6,384,288	4,908,038