CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Dec. 31, 2019	Dec. 31, 2018
Statement of Financial Position [Abstract]
Preferred stock, par value (in dollars per share)	$ 0.01	$ 0.01
Preferred stock, shares authorized (in shares)	10,000,000	10,000,000
Preferred stock, shares issued (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in share)	50,000,000	50,000,000
Common stock, shares, issued (in shares)	18,988,379	18,676,059
Common stock, shares, outstanding (in shares)	17,576,618	17,253,011
Treasury stock, shares (in share)	1,411,761	1,423,048