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Shareholders' Equity, Stock Plans and Preferred Stock - Restricted Stock and Restricted Stock Units Activity (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2019
$ / shares
shares
Restricted Stock Units (RSUs)  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Outstanding at beginning of period (in shares) | shares 120
Granted (in shares) | shares 151
Dividend Equivalents (in shares) | shares 0
Vested (in shares) | shares (57)
Cancelled (in shares) | shares (7)
Outstanding at beginning of period (in shares) | shares 207
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward]  
Weighted-Average Grant Date Fair Value, Outstanding at beginning of period (in dollars per share) | $ / shares $ 8.77
Weighted Average Grant Date Fair Value, Granted (in dollars per share) | $ / shares 3.93
Weighted Average Grant Date Fair Value, Dividend Equivalents (in dollars per share) | $ / shares 0.00
Weighted Average Grant Date Fair Value, Vested (in dollars per share) | $ / shares 8.91
Weighted-Average Grant Date Fair Value, Cancelled (in dollars per share) | $ / shares 5.97
Weighted-Average Grant Date Fair Value, Outstanding at end of period (in dollars per share) | $ / shares $ 5.28
Employee Stock Purchase Plan  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Outstanding at beginning of period (in shares) | shares 43
Granted (in shares) | shares 36
Dividend Equivalents (in shares) | shares 0
Vested (in shares) | shares (31)
Cancelled (in shares) | shares 0
Outstanding at beginning of period (in shares) | shares 48
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward]  
Weighted-Average Grant Date Fair Value, Outstanding at beginning of period (in dollars per share) | $ / shares $ 9.26
Weighted Average Grant Date Fair Value, Granted (in dollars per share) | $ / shares 3.93
Weighted Average Grant Date Fair Value, Dividend Equivalents (in dollars per share) | $ / shares 0.00
Weighted Average Grant Date Fair Value, Vested (in dollars per share) | $ / shares 9.54
Weighted-Average Grant Date Fair Value, Cancelled (in dollars per share) | $ / shares 0.00
Weighted-Average Grant Date Fair Value, Outstanding at end of period (in dollars per share) | $ / shares $ 5.08