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Stock Options (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2017
Jun. 30, 2016
Jun. 30, 2017
Jun. 30, 2016
Apr. 05, 2012
Stock options under 2012 Plan          
Stock option details          
Shares available for future grants 206,100   206,100   800,000
Maximum exercisable period for options granted     10 years    
Stock option activity          
Options outstanding at the beginning of the period (in shares)     800,502    
Less:          
Options exercised (in shares)     87,322    
Options expired (in shares)     2,188    
Options forfeited (in shares)     10,963    
Options outstanding at the end of the period (in shares) 700,029   700,029    
Options fully vested and exercisable at the end of the period (in shares) 255,860   255,860    
Stock Options, Weighted Average Exercise Price          
Options outstanding at the beginning, weighted average exercise price (in dollars per share)     $ 19.43    
Less:          
Options exercised, weighted average exercise price (in dollars per share)     12.48    
Options expired, weighted average exercise price (in dollars per share)     10.40    
Options forfeited, weighted average exercise price (in dollars per share)     19.62    
Options outstanding at the end, weighted average exercise price (in dollars per share) $ 20.32   20.32    
Options fully vested and exercisable at the end, weighted average exercise price (in dollars per share) $ 18.78   $ 18.78    
Stock Options, Weighted Average Remaining Contractual Term          
Options outstanding at the end, weighted average remaining contractual term     5 years 11 months 23 days    
Options fully vested and exercisable at the end, weighted average remaining contractual term     5 years 11 days    
Stock Options, Aggregate Intrinsic Value          
Options outstanding at the end, aggregate intrinsic value $ 10,311,000   $ 10,311,000    
Options fully vested and exercisable at the end, aggregate intrinsic value 4,162,000   4,162,000    
Stock-based compensation expense 216,000 $ 269,000 484,000 $ 554,000  
Stock-based compensation cost, unrecognized, related to non-vested options $ 1,838,000   $ 1,838,000    
Stock-based compensation cost, unrecognized, related to non-vested options, weighted-average period of recognition     1 year 7 months 6 days    
Incentive stock options granted to 10% shareholders          
Stock option details          
Maximum exercisable period for options granted     5 years