Common Stock (Details Textual) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2009
Common Stock [Line Items]
Common stock, shares outstanding	17,273,272
Repurchases of common stock in the open market	$ 1,833,000		$ 7,993,000
Shares sold in private placement				2,857,143
Common stock, par value (in dollars per share)	$ 0.01	$ 0.01		$ 0.01
Securities purchase agreement purchase price				$ 20,000,000.0
Beneficial ownership maximum percentage				23.00%
Stock beneficially owned	1,900,000
Purchase price percentage	1.00%
Shareholders indemnification amount	$ 25,000
Sagard [Member]
Common Stock [Line Items]
Share price (in dollars per share)				$ 7.00
Stock beneficially owned	3,639,367
Stock beneficial ownership percentage	21.10%
Maximum [Member]
Common Stock [Line Items]
Liquidated damages amount	$ 2,400,000
Stock Repurchase Program [Member]
Common Stock [Line Items]
Stock repurchased during period (shares)	255,000	0	354,000
Repurchases of common stock in the open market	$ 1,800,000	$ 0.0	$ 8,000,000.0
2011 Plan [Member]
Common Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number	1,208,610
Shares reserved for future issuance	941,749