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Stockholders’ equity Stockholders' Equity (Notes) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 12 Months Ended
Aug. 05, 2019
Sep. 30, 2019
Jul. 31, 2019
Jun. 30, 2019
Jan. 31, 2019
Dec. 31, 2018
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Equity [Abstract]                    
Stockholders' Equity Note Disclosure [Text Block]            
Common Stock
Pursuant to the Company’s amended and restated certificate of incorporation (“Certificate of Incorporation”), the Company is authorized to issue up to 100,000,000 shares of common stock, par value $0.01 per share. As of December 31, 2020, there were 51,053,858 shares of common stock issued and 50,661,919 outstanding.

On March 16, 2018, 20,000 shares of common stock were issued as additional consideration for the investment in Challenger upon resolution of terms for such holdback shares.

Preferred Stock
Pursuant to the Company’s Certificate of Incorporation, the Company is authorized to issue up to 5,000,000 shares of preferred stock, par value $0.01 per share. The Board of Directors (the “Board”) has the authority, subject to any limitations imposed by law or Nasdaq rules, without further action by the stockholders, to issue such preferred stock in one or more series and to fix the voting powers (if any), the preferences and relative, participating, optional or other special rights or privileges, if any, of such series and the qualifications, limitations or restrictions thereof. These rights, preferences and privileges may include, but are not limited to, dividend rights, conversion rights, voting rights, terms of redemption, liquidation preferences, sinking fund terms and the number of shares constituting any series or the designation of that series. As of December 31, 2020, there were no shares of preferred stock issued and outstanding.

Share Repurchase Programs
In October 2018, the Company’s Board authorized a share repurchase program for the period beginning on October 3, 2018 and ending on October 3, 2020 of the Company’s common stock for an aggregate price not to exceed $30.0 million (the “2018 Share Repurchase Program”). The timing, volume and nature of share repurchases are at the discretion of management and dependent on market conditions, corporate and regulatory requirements, available cash and other factors, and may be suspended or discontinued at any time. Authorized repurchases may be made from time to time in the open market, through block trades or in privately negotiated transactions. No assurance can be given that any particular amount of common stock will be repurchased. All or part of the repurchases may be implemented under a trading plan under Rule 10b5-1 or Rule 10b-18 established by the SEC, which would allow repurchases under pre-set terms at times when the Company might otherwise be prevented from doing so under insider trading laws or because of self-imposed blackout periods. This repurchase program may be modified, extended or terminated by the Board at any time. The Company intends to finance any repurchases with available cash and proceeds from borrowings under lines of credit.
In December 2018, the Company repurchased 136,756 shares for approximately $1.0 million.

On December 31, 2018, the Company’s Board authorized implementation of share repurchases in accordance with a trading plan under Rule 10b5-1 (the “December 2018 Trading Plan”) within the 2018 Share Repurchase Program. The trading plan was effective from January 2, 2019 until March 30, 2019. In January 2019, the Company repurchased 7,862 shares for approximately $0.1 million under the December 2018 Trading Plan.

In June 2019, the Company’s Board authorized discrete repurchases under the 2018 Share Repurchase Program of 39,320 shares for approximately $0.3 million.

On June 27, 2019, the Company’s Board authorized implementation of share repurchases in accordance with a trading plan under Rule 10b5-1 (the “June 2019 Trading Plan”) within the 2018 Share Repurchase Program. The trading plan was effective from July 1, 2019 until August 5, 2019. In July 2019, the Company repurchased 144,584 shares for approximately $1.2 million under the June 2019 Trading Plan.

In September 2019, the Company’s Board authorized discrete repurchases under the 2018 Share Repurchase Program of 63,417 shares for approximately $0.6 million.
The 2018 Share Repurchase Program expired on October 3, 2020. No shares were repurchased during the year ended December 31, 2020 		     
Class of Stock [Line Items]                    
Common stock, shares authorized (in shares)             100,000,000      
Stock repurchased in period (in shares)   63,417 144,584 39,320 7,862          
Stock Repurchase Program, Authorized Amount             $ 30,000      
Treasury Stock, Shares, Acquired           136,756   255,183 136,756,000  
Treasury Stock, Value, Acquired, Cost Method           $ 1,000   $ 2,186 $ 981  
Preferred Stock, Shares Authorized             5,000,000      
Preferred Stock, Par or Stated Value Per Share             $ 0.01      
Preferred Stock, Shares Outstanding             0      
Common stock, par value (in dollars per share)             $ 0.01      
Document Period End Date             Dec. 31, 2020      
Common Stock, Shares, Issued           50,719,884 51,053,858 50,879,949 50,719,884 50,598,901
Common Stock, Shares, Outstanding             50,661,919      
Stock Issued During Period, Shares, Acquisitions                 20,000  
Stock Repurchased During Period, Value   $ 600 $ 1,200 $ 300 $ 100          
Stock Repurchase Program Expiration Date Aug. 05, 2019