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Stockholders' Equity - Private Placement Warrants (Details) - Private placement warranty liability - $ / shares | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014 | Apr. 30, 2016 | Apr. 30, 2011
Fair Value Measurement Inputs and Valuation Techniques [Line Items] |  |  |  |  |
Warrants term |  |  |  |  | 5 years
Common stock shares issuable private placement warrants (in shares) |  |  |  |  | 750,002
Exercise price of warrants or rights (in dollars per share) |  |  |  |  | $ 13.00
Warrants exercised (in shares) | 153,916 | 5,000 | 109,585 |  |
Number of private placement warrants expired (in shares) |  |  |  | 128,341 |
Common stock reserved for future issuance (in shares) |  | 282,257 | 287,257 |  |

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- Definition Period between issuance and expiration of outstanding warrant and right embodying unconditional obligation requiring redemption by transferring asset at specified or determinable date or upon event certain to occur, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 820 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (bbb)(2) -URI http://asc.fasb.org/extlink&oid=99377789&loc=d3e19207-110258 + Details
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