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Stock-Based Compensation - Restricted Stock Awards, Restricted Stock Units and Common Stock Awards (Details) - USD ($)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Restricted stock      
Number of Restricted Share Awards      
Nonvested restricted shares outstanding, beginning balance (in shares) 65,974    
Granted (in shares) 0 0 0
Vested (in shares) (65,974)    
Nonvested restricted shares outstanding, ending balance (in shares)   65,974  
Weighted Average Grant-Date Fair Value      
Nonvested restricted shares outstanding, beginning balance (in dollars per share) $ 3.65    
Vested (in dollars per share) $ 3.65    
Nonvested restricted shares outstanding, ending balance (in dollars per share)   $ 3.65  
Additional disclosures      
Annual increment period 3 years    
Unrecognized compensation cost $ 0    
Aggregate vesting date fair value of restricted awards $ 255,000 $ 48,000 $ 84,000
Restricted stock | Minimum      
Additional disclosures      
Vesting period 1 year    
Restricted stock | Maximum      
Additional disclosures      
Vesting period 3 years    
Restricted stock units      
Number of Restricted Share Awards      
Nonvested restricted shares outstanding, beginning balance (in shares) 627,085    
Granted (in shares)   268,000 238,350
Vested (in shares) (197,485)    
Forfeited (in shares) (19,500)    
Nonvested restricted shares outstanding, ending balance (in shares) 410,100 627,085  
Weighted Average Grant-Date Fair Value      
Nonvested restricted shares outstanding, beginning balance (in dollars per share) $ 5.03    
Granted (in dollars per share)   $ 7.14 $ 3.96
Vested (in dollars per share) 3.74    
Forfeited (in dollars per share) 5.41    
Nonvested restricted shares outstanding, ending balance (in dollars per share) $ 5.64 $ 5.03  
Additional disclosures      
Annual increment period 3 years    
Unrecognized compensation cost $ 871,000    
Period over which unrecognized compensation expense is expected to be recognized 1 year    
Aggregate vesting date fair value of restricted awards $ 710,000 $ 273,000 $ 422,000
Restricted stock units | Minimum      
Additional disclosures      
Vesting period 1 year    
Restricted stock units | Maximum      
Additional disclosures      
Vesting period 3 years    
Common stock awards      
Number of Restricted Share Awards      
Granted (in shares) 119,556 59,284 67,498
Weighted Average Grant-Date Fair Value      
Granted (in dollars per share) $ 2.48 $ 5.59 $ 4.74