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Shareholders' Equity, Stock Plans and Preferred Stock - Shareholders' Equity and Stock Plans (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
May 31, 2017
Jun. 30, 2016
Jun. 29, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares authorized under the Plan (in shares)         350,000 150,000
Stock based compensation $ 573 $ 1,127 $ 1,027      
Total unrecognized stock-based compensation expense 406          
Net proceeds under equity grants $ 41          
Restricted stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Grants approved by the Board of Directors (in shares) 151,000 90,000        
Restricted stock | First anniversary            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting percentage of awards 33.33%          
Restricted stock | Second anniversary            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting percentage of awards 33.33%          
Restricted stock | Third anniversary            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting percentage of awards 33.33%          
Stock Options and Stock Appreciation Rights (SARs)            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Weighted average remaining life of outstanding equity grants 5 years 1 month 21 days          
Weighted average remaining life of grants that are exercisable 4 years 8 months 5 days          
Stock option and SOSAR grants exercised (in shares) 2,000          
2008 Stock Purchase Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved for future issuance (in shares) 150,000          
Percentage of fair market value at date of grant (percentage) 85.00%          
Restriction period 2 years          
2010 Long Term Incentive Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved for future issuance (in shares) 680,000     380,000