Annual report pursuant to Section 13 and 15(d)

Commitments and Contingencies Subleases (Details)

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Commitments and Contingencies Subleases (Details) - USD ($)
12 Months Ended
Jan. 01, 2019
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Lease Contract Termination [Roll Forward]        
Contract termination obligation, beginning balance $ 218,000 $ 218,000 $ 194,000  
Lease termination costs incurred     224,000 $ 72,000
Sublease payment received       122,000
Accretion expense     33,000  
Payments on obligations     (229,000)  
Change in currency exchange rate     (4,000)  
Adjustment and reclassification upon adoption of Topic 842 (see Note 1) (218,000)      
Contract termination obligation, ending balance   0 218,000 194,000
Sublease Income   105,000 160,000  
London, United Kingdom        
Lease Contract Termination [Roll Forward]        
Contract termination obligation, beginning balance 15,000 15,000 194,000  
Lease termination costs incurred     0 72,000
Sublease payment received       122,000
Accretion expense     14,000  
Payments on obligations     (189,000)  
Change in currency exchange rate     (4,000)  
Adjustment and reclassification upon adoption of Topic 842 (see Note 1) (15,000)      
Contract termination obligation, ending balance   0 15,000 194,000
Minneapolis Headquarters        
Lease Contract Termination [Roll Forward]        
Contract termination obligation, beginning balance 203,000 203,000 0  
Lease termination costs incurred     224,000 0
Sublease payment received       0
Accretion expense     19,000  
Payments on obligations     (40,000)  
Change in currency exchange rate     0  
Adjustment and reclassification upon adoption of Topic 842 (see Note 1) $ (203,000)      
Contract termination obligation, ending balance   $ 0 $ 203,000 $ 0