Stock Based Compensation - Schedule of Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
	Jan. 01, 2020	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Beginning balance, Options outstanding (in shares)	2,473,198	2,473,198	2,377,180
Options exercised (in shares)		(6,821)	(1,392)
Options granted (in shares)		0	209,908
Options cancelled (in shares)		(146,059)	(112,498)
Ending balance, Options outstanding (in shares)	2,473,198	2,320,318	2,473,198	2,377,180
Exercisable at period end (in shares)		2,267,154	2,079,809
Weighted Average Exercise Price per Share
Beginning of period (in dollars per share)	$ 4.67	$ 4.67	$ 4.79
Options exercised (in dollars per share)		3.78	3.86
Options granted (in dollars per share)		0	3.14
Options cancelled (in dollars per share)		5.88	4.34
End of period (in dollars per share)	$ 4.67	4.67	4.67	$ 4.79
Exercisable at end of period (in usd per share)		$ 4.70	$ 4.95
Weighted Average Remaining Contractual Term (in Years)
Options outstanding, weighted average remaining contractual term (in years)	6 years 10 months 2 days	5 years 11 months 1 day	6 years 10 months 2 days	7 years 5 months 15 days
Options exercisable, weighted average remaining contractual term (in years)		5 years 10 months 9 days	6 years 7 months 24 days
Aggregate Intrinsic Value (in thousands)
Options outstanding, aggregate intrinsic value	$ 0	$ 0	$ 0	$ 0
Options exercisable, aggregate intrinsic value		$ 0	$ 0
Closing stock price		$ 3.00