Restatement of Previously Issued Consolidated Financial Statements - Effect of The Error Corrections On The Consolidated Statements of Equity (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2018	Sep. 30, 2018	Jun. 30, 2018	Mar. 31, 2018	Dec. 31, 2017
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning Balance (in shares)				30,512,843
Beginning balance	$ 130,788	$ 128,885	$ 120,065	$ 109,596	$ 100,657	$ 91,189	$ 83,572	$ 72,323	$ 65,835
Ending balance (in shares)	30,801,255				30,512,843
Ending balance	$ 128,688	130,788	128,885	120,065	$ 109,596	100,657	91,189	83,572	72,323
As Previously Reported
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	139,745	136,502	126,651	115,038	105,315	94,541	86,400	74,742	67,690
Ending balance		139,745	136,502	126,651	115,038	105,315	94,541	86,400	74,742
Restatement Adjustments
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ (8,957)	(7,617)	(6,586)	(5,442)	(4,658)	(3,352)	(2,828)	(2,419)	(1,855)
Ending balance		$ (8,957)	$ (7,617)	$ (6,586)	$ (5,442)	$ (4,658)	$ (3,352)	$ (2,828)	$ (2,419)
Common Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning Balance (in shares)	30,581,000	30,581,000	30,513,000	30,512,843	30,219,000	30,219,000	30,219,000	30,219,278	29,871,354
Beginning balance	$ 319	$ 319	$ 318	$ 318	$ 304	$ 304	$ 304	$ 304	$ 299
Ending balance (in shares)	30,801,255	30,581,000	30,581,000	30,513,000	30,512,843	30,219,000	30,219,000	30,219,000	30,219,278
Ending balance	$ 323	$ 319	$ 319	$ 318	$ 318	$ 304	$ 304	$ 304	$ 304
Common Stock | As Previously Reported
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning Balance (in shares)				30,512,843				30,219,278	29,871,354
Beginning balance				$ 318				$ 304	$ 299
Ending balance (in shares)					30,512,843				30,219,278
Ending balance					$ 318				$ 304
Treasury Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(10,245)	(10,245)	(10,245)	(10,245)	(9,114)	(9,114)	(9,114)	(9,114)	(7,753)
Ending balance	(11,230)	(10,245)	(10,245)	(10,245)	(10,245)	(9,114)	(9,114)	(9,114)	(9,114)
Treasury Stock | As Previously Reported
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance				(10,245)				(9,114)	(7,753)
Ending balance					(10,245)				(9,114)
Additional Paid-In Capital
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	245,207	244,486	243,768	243,007	242,167	241,387	240,543	239,870	237,367
Ending balance	245,852	245,207	244,486	243,768	243,007	242,167	241,387	240,543	239,870
Additional Paid-In Capital | As Previously Reported
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance				243,007				239,870	237,367
Ending balance					243,007				239,870
Retained Deficit
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(52,773)	(59,953)	(66,099)	(76,013)	(84,110)	(95,387)	(108,058)	(117,502)	(115,233)
Ending balance	(60,307)	(52,773)	(59,953)	(66,099)	(76,013)	(84,110)	(95,387)	(108,058)	(117,502)
Retained Deficit | As Previously Reported
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance				(70,571)				(115,083)	(113,378)
Ending balance					(70,571)				(115,083)
Retained Deficit | Understatement of cost of revenues and PPE adjustment | Restatement Adjustments
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance				(5,442)				(2,419)	(1,855)
Ending balance					(5,442)				(2,419)
Accumulated other comprehensive loss
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(51,720)	(45,722)	(47,677)	(47,471)	(48,590)	(46,001)	(40,103)	(41,235)	(48,845)
Ending balance	$ (45,950)	$ (51,720)	$ (45,722)	(47,677)	(47,471)	$ (48,590)	$ (46,001)	(40,103)	(41,235)
Accumulated other comprehensive loss | As Previously Reported
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance				$ (47,471)				$ (41,235)	(48,845)
Ending balance					$ (47,471)				$ (41,235)