Stockholders' Equity (Details) - USD ($)								3 Months Ended	12 Months Ended
	Dec. 21, 2021	Sep. 23, 2021	Jun. 22, 2021	Mar. 23, 2021	Dec. 17, 2020	Sep. 22, 2020	Jul. 01, 2020	Dec. 31, 2021	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 19, 2019	Mar. 31, 2017
Shareholders equity
Net proceeds from issuance of common stock									$ 0	$ 22,357,000	$ 52,714,000
Shares authorized to be repurchased (in shares)												3,000,000
Treasury stock (in shares)								479,808
Treasury stock, weighted average price (in dollars per share)								$ 2.27
Dividends declared per Share of Common Stock (in dollars per share)	$ 0.06	$ 0.06	$ 0.06	$ 0.06	$ 0.06	$ 0.05
Dividends paid per Share of Common Stock (in dollars per share)	$ 0.06	$ 0.06	$ 0.06	$ 0.06	$ 0.06	$ 0.05
2022 Notes | Convertible Debt
Shareholders equity
Exchange of convertible senior notes (in shares)							1,354,084
Principal balance							$ 5,000,000
Common Stock
Shareholders equity
Treasury stock (in shares)									479,808	100,000
Common Stock | At The Market Offering
Shareholders equity
Equity offering amount, maximum													$ 100,000,000
Sale of stock (in shares)										6,034,741
Sale of stock, price per share (in dollars per share)										$ 3.70
Net proceeds from issuance of common stock										$ 22,000,000