Stockholder's Equity and Stock-based Compensation - Transactions Under Stock Option Plans Summary (Details) - $ / shares	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Option Price per Share
Outstanding, minimum (usd per share)	$ 3.10	$ 3.10	$ 3.10
Outstanding, maximum (usd per share)	151.35	151.35	245.85
Granted, minimum (usd per share)	6.79	24.50	3.15
Granted, maximum (usd per share)	8.43	24.50	3.15
Exercised, minimum (usd per share)	3.10	3.10	3.10
Exercised, maximum (usd per share)	3.10	3.10	3.10
Cancelled/forfeited, minimum (usd per share)	13.15	3.10	3.10
Cancelled/forfeited, maximum (usd per share)	$ 107.85	$ 245.85	$ 245.85
Outstanding
Beginning balance (in shares)	785,890.00	890,341.000	847,635
Granted (in shares)	20,000	10,000	156,000
Exercised (in shares)	(86,900)	(70,086)	(15,000)
Cancelled/forfeited (in shares)	(29,781)	(44,365)	(98,294)
Ending balance (in shares)	689,209	785,890.00	890,341.000
Vested
Vested, beginning balance (in shares)	474,905	435,278	348,353
Vested (in shares)	167,991	153,944	149,537
Exercised (in shares)	(86,900)	(70,086)	(15,000)
Cancelled/forfeited (in shares)	(22,281)	(44,231)	(47,612)
Vested, ending balance (in shares)	533,715	474,905	435,278
Available for Grant
Beginning balance (in shares)	732,720	488,403	599,720
Increase in shares authorized (in shares)		1,200,000
Granted (in shares)	20,000	10,000	156,000
Cancelled/forfeited (in shares)	10,799	2,568	82,118
Restricted stock granted out of option plans (in shares)	(157,155)	(996,775)	(59,500)
Vested restricted stock forfeited or cancelled for employee minimum income taxes and returned to the plans (in shares)	170,254	48,524	22,065
Ending balance (in shares)	736,618	732,720	488,403