Consolidated Balance Sheets (Unaudited) (Parenthetical) - USD ($) $ in Thousands	Sep. 30, 2020	Dec. 31, 2019
Preferred Stock, Par or Stated Value Per Share	$ 0.0001	$ 0.0001
Preferred stock, shares authorized	5,000,000	5,000,000
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized	100,000,000	100,000,000
Common stock, shares issued	46,317,000	42,790,000
Common stock, shares outstanding	42,758,000	39,464,000
Treasury stock, shares	3,559,000	3,326,000
Accounts Receivable, Allowance for Credit Loss, Current	$ (2,053)	$ (2,474)
Series B Preferred Stock
Preferred stock, shares issued	357,000	357,000
Preferred stock, shares outstanding	357,000	357,000
Series A-1 Preferred Stock [Member]
Preferred stock, shares issued	4,204,000	4,210,000
Preferred stock, shares outstanding	4,204,000	4,210,000