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Equity Incentive Plans and Stock-Based Compensation (Details Textual) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Stock-based compensation        
Employee stock purchase plan, shares issued during period     277,838 429,396
Employee stock purchase plan, weighted-average price per share     $ 10.51 $ 7.95
Fair Value Assumptions, Expected Dividend Rate (as a percentage)     0.00%  
Options        
Stock-based compensation        
Stock-based compensation expense $ 0.1 $ 0.2 $ 0.3 $ 0.5
Unrecognized compensation cost $ 1.5   $ 1.5  
Unrecognized compensation cost, weighted-average period     2 years  
Employee stock purchase plan        
Stock-based compensation        
Number of additional shares authorized     2,000,000  
Shares available for issuance 3,400,000   3,400,000  
Discount from market price specific date     15.00%  
Stock-based compensation expense $ 0.2 0.3 $ 0.7 0.8
Unrecognized compensation cost 0.5   $ 0.5  
Unrecognized compensation cost, weighted-average period     4 months  
Nonvested equity stock units and stock units        
Stock-based compensation        
Stock-based compensation expense 6.3 $ 6.5 $ 11.8 $ 12.9
Unrecognized compensation cost $ 45.1   $ 45.1  
Unrecognized compensation cost, weighted-average period     2 years 6 months  
Awards, nonvested grants in period, shares 100,000 300,000 1,872,547 3,700,000
Awards, nonvested grants in period, fair value $ 1.7 $ 3.4 $ 29.3 $ 35.6
Awards, nonvested requisite service period     4 years  
Nonvested equity stock units and stock units | Director        
Stock-based compensation        
Awards, nonvested requisite service period     1 year  
Nonvested equity stock units and stock units | Minimum        
Stock-based compensation        
Awards, vesting rights (as a percentage)     0.00%  
Nonvested equity stock units and stock units | Maximum        
Stock-based compensation        
Awards, vesting rights (as a percentage)     200.00%