Annual report pursuant to Section 13 and 15(d)

Stock-Based Compensation Schedule of Share-based Compensation Rollforward (Details)

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Stock-Based Compensation Schedule of Share-based Compensation Rollforward (Details) - 2007 and 1992 Stock Incentive Plans - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]      
Options outstanding, beginning of year (in shares) 1,442 1,288 1,508
Number of options granted 39 758 165
Options exercised (in shares) (40) 0 0
Options canceled (in shares) (381) (604) (385)
Options outstanding, end of year (in shares) 1,060 1,442 1,288
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]      
Options outstanding, weighted-average exercise price, beginning of year (dollars per share) $ 3.51 $ 6.18 $ 7.03
Options granted, weighted-average exercise price (dollars per share) 3.11 2.24 2.16
Options exercised, weighted-average exercise price (dollars per share) 2.55 0.00 0.00
Options canceled, weighted-average exercise price (dollars per share) 5.20 7.60 7.81
Options outstanding, weighted-average exercise price, end of year (dollars per share) $ 2.93 $ 3.51 $ 6.18
Weighted-average remaining contractual term for options outstanding (In years) 4 years 234 days    
Aggregate intrinsic value of options outstanding (value) $ 275    
Options subject to exercise (in shares) 540 572 838
Weighted-average exercise price for options subject to exercise (dollars per share) $ 3.51 $ 5.29 $ 7.85
Weighted-average remaining contractual term for options subject to exercise 3 years 329 days    
Aggregate intrinsic value for options subject to exercise (value) $ 92    
Options vested and expected to vest (in shares) 1,060    
Weighted-average exercise price for options vested and expected to vest (dollars per share) $ 2.93    
Weighted-average remaining contractual term for options vested and expected to vest (In years) 4 years 234 days    
Aggregate intrinsic value of options vested and expected to vest (value) $ 275