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Stock-Based Plans and Stock-Based Compensation - Stock-Based Plans, Stock-Based Compensation and Stock Grants (Details)
12 Months Ended
Dec. 31, 2019
USD ($)
nonemployee_director
shares
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
May 31, 2014
shares
Options, Additional Disclosures [Abstract]        
Intrinsic value of stock options exercised $ 230,000 $ 388,000 $ 265,000  
Intrinsic value of fully-vested stock awards granted 1,590,000 992,000 1,812,000  
Stock-Based Compensation Expense [Abstract]        
Total Stock-based compensation expense 2,006,000 1,484,000 1,316,000  
Unrecognized stock-based compensation expense $ 1,500,000      
Weighted average remaining vesting period 1 year 275 days      
Selling, general and administrative expense        
Stock-Based Compensation Expense [Abstract]        
Total Stock-based compensation expense $ 1,907,000 1,334,000 1,197,000  
Cost of sales        
Stock-Based Compensation Expense [Abstract]        
Total Stock-based compensation expense $ 99,000 $ 150,000 $ 119,000  
Stock options        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Vesting period 4 years      
Period options are exercisable 10 years      
RSUs        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Vesting period 3 years      
Stock grants        
Stock-Based Compensation Expense [Abstract]        
Stock awards granted (in shares) | shares 27,403      
Stock grants | Non-employee directors        
Stock-Based Compensation Expense [Abstract]        
Number of shares authorized per non-employee director (in shares) | shares 3,243      
Number of non-employee directors | nonemployee_director 7      
Stock Granted, Value, Share-based Compensation, Gross $ 50,000      
Stock grants | Chairman of board        
Stock-Based Compensation Expense [Abstract]        
Stock awards granted (in shares) | shares 4,702      
Stock Granted, Value, Share-based Compensation, Gross $ 72,500      
2014 Plan        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Number of shares authorized (in shares) | shares       1,000,000
Number of shares available for grant (in shares) | shares 298,296