Stock Based Compensation - Schedule of Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2020	Mar. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Beginning balance, Options outstanding (in shares)	2,543,125		2,458,091
Options granted (in shares)	0		0
Options exercised (in shares)	(31,925)		0
Options cancelled (in shares)	(48,786)		(3,404)
Ending balance, Options outstanding (in shares)	2,462,414	2,543,125	2,454,687	2,458,091
Exercisable at period end (in shares)	2,224,780		2,251,243
Weighted Average Exercise Price per Share
Beginning of period (in dollars per share)	$ 4.82		$ 4.74
Options granted (in dollars per share)	0		0
Options exercised (in dollars per share)	4.21		0
Options cancelled (in dollars per share)	6.85		3.51
End of period (in dollars per share)	4.79	$ 4.82	4.74	$ 4.74
Exercisable at end of period (in usd per share)	$ 4.65		$ 4.83
Weighted Average Remaining Contractual Term (in Years)
Options outstanding, weighted average remaining contractual term (in years)	5 years 9 months 25 days	6 years 18 days	6 years 3 months 29 days	6 years 6 months 29 days
Options exercisable, weighted average remaining contractual term (in years)	5 years 5 months 4 days		6 years 2 months 19 days
Aggregate Intrinsic Value (in thousands)
Options outstanding, aggregate intrinsic value	$ 720	$ 0	$ 0	$ 0
Options exercisable, aggregate intrinsic value	$ 690		$ 0
Closing stock price (in dollars per share)	$ 4.58		$ 3.01