Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Sep. 30, 2020	Dec. 31, 2019
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 1,665	$ 1,026
Common stock, shares issued (in shares)	23,827,680	21,057,040
Common stock, shares outstanding (in shares)	23,419,610	20,648,970
Treasury stock, shares held (in shares)	408,070	408,070