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Stock-based Compensation - Summary of Stock-based Compensation Stock Options Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
2005 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of options outstanding, Beginning of period 155,000  
Number of options outstanding, Exercised (55,000)  
Number of options outstanding, Ending of period 100,000  
Number of options outstanding, Full vested and expected to vest 100,000  
Number of options outstanding, Vested 100,000  
Weighted average exercise price, Outstanding beginning $ 4.70  
Weighted average exercise price, Exercised 1.15  
Weighted average exercise price, Outstanding ending 5.77  
Weighted average exercise price, Full vested and expected to vest 5.77  
Weighted average exercise price, Vested $ 5.77  
Aggregate intrinsic value, Outstanding $ 35  
Aggregate intrinsic value, Fully vested and expected to vest 35  
Aggregate intrinsic value, Vested $ 35  
2010 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of options outstanding, Beginning of period 365,000  
Number of options outstanding, Granted 0 0
Number of options outstanding, Exercised (115,000)  
Number of options outstanding, Ending of period 250,000  
Number of options outstanding, Full vested and expected to vest 242,500  
Number of options outstanding, Vested 220,000  
Weighted average exercise price, Outstanding beginning $ 5.78  
Weighted average exercise price, Exercised 2.11  
Weighted average exercise price, Outstanding ending 7.12  
Weighted average exercise price, Full vested and expected to vest 7.10  
Weighted average exercise price, Vested $ 7.00  
Aggregate intrinsic value, Outstanding $ 128  
Aggregate intrinsic value, Fully vested and expected to vest 128  
Aggregate intrinsic value, Vested $ 128