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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