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Stock Options (Details) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 30, 2017
Sep. 30, 2016
Sep. 30, 2017
Sep. 30, 2016
Apr. 05, 2012
Stock options under 2012 Plan          
Stock option details          
Shares available for future grants 210,375   210,375   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)     92,934    
Options expired (in shares)     2,188    
Options forfeited (in shares)     15,238    
Options outstanding at the end of the period (in shares) 690,142   690,142    
Options fully vested and exercisable at the end of the period (in shares) 256,801   256,801    
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)     12.72    
Options expired, weighted average exercise price (in dollars per share)     10.40    
Options forfeited, weighted average exercise price (in dollars per share)     20.30    
Options outstanding at the end, weighted average exercise price (in dollars per share) $ 20.34   20.34    
Options fully vested and exercisable at the end, weighted average exercise price (in dollars per share) $ 18.92   $ 18.92    
Stock Options, Weighted Average Remaining Contractual Term          
Options outstanding at the end, weighted average remaining contractual term     5 years 9 months    
Options fully vested and exercisable at the end, weighted average remaining contractual term     4 years 10 months 17 days    
Stock Options, Aggregate Intrinsic Value          
Options outstanding at the end, aggregate intrinsic value $ 13,637,000   $ 13,637,000    
Options fully vested and exercisable at the end, aggregate intrinsic value 5,439,000   5,439,000    
Stock-based compensation expense 215,000 $ 268,000 699,000 $ 822,000  
Stock-based compensation cost, unrecognized, related to non-vested options $ 1,623,000   $ 1,623,000    
Stock-based compensation cost, unrecognized, related to non-vested options, weighted-average period of recognition     1 year 6 months    
Incentive stock options granted to 10% shareholders          
Stock option details          
Maximum exercisable period for options granted     5 years