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Stock-based Compensation - Summary of Stock-based Compensation Stock Options Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2019
Mar. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of options outstanding, Beginning of period 250,000  
Number of options outstanding, Exercised (60,000)  
Number of options outstanding, Ending of year 190,000  
Number of options outstanding, Full vested and expected to vest 189,500  
Number of options outstanding, Vested 188,000  
2005 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock options granted 0 0
Weighted average exercise price, Outstanding beginning $ 4.00  
Weighted average exercise price, Exercised 2.83  
Weighted average exercise price, Outstanding ending 4.37  
Weighted average exercise price, Full vested and expected to vest 4.36  
Weighted average exercise price, Vested $ 4.33  
Aggregate intrinsic value, Outstanding $ 831  
Aggregate intrinsic value, Fully vested and expected to vest 831  
Aggregate intrinsic value, Vested $ 831  
2010 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of options outstanding, Beginning of period 620,000  
Stock options granted 0 0
Number of options outstanding, Exercised (65,000)  
Number of options outstanding, Ending of year 555,000  
Number of options outstanding, Full vested and expected to vest 532,500  
Number of options outstanding, Vested 465,000  
Weighted average exercise price, Outstanding beginning $ 4.57  
Weighted average exercise price, Exercised 2.85  
Weighted average exercise price, Outstanding ending 4.77  
Weighted average exercise price, Full vested and expected to vest 4.64  
Weighted average exercise price, Vested $ 4.15  
Aggregate intrinsic value, Outstanding $ 2,206  
Aggregate intrinsic value, Fully vested and expected to vest 2,190  
Aggregate intrinsic value, Vested $ 2,139