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Stock Incentive Plans - Stock Option Plans (Details) - shares | 1 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | ---
Feb. 29, 2008 | Dec. 31, 2016 | Dec. 31, 2015 | Oct. 31, 2013
Stock incentive plans |  |  |  |
Number of shares available for issuance |  | 887,724 | 1,058,359 |
Options |  |  |  |
Stock incentive plans |  |  |  |
Number of shares available for issuance |  | 887,724 | 1,058,359 |
2008 Plan | Options | Minimum |  |  |  |
Stock incentive plans |  |  |  |
Minimum purchase price as a percentage of fair market value | 100.00% |  |  |
2008 Plan | Options | Maximum |  |  |  |
Stock incentive plans |  |  |  |
Term of options granted | 10 years |  |  |
2008 Plan | ISO | Minimum |  |  |  |
Stock incentive plans |  |  |  |
Voting power of person owning stock (as a percent) | 10.00% |  |  |
Option price as a percentage of estimated fair value of shares on date of grant to a person owning stock representing more than 10% of voting power of all classes of stock | 110.00% |  |  |
2008 Plan | ISO | Maximum |  |  |  |
Stock incentive plans |  |  |  |
Term of options granted to a person owning stock representing more than 10% of voting power of all classes of stock | 5 years |  |  |
Stock Incentive Plan2013 [Member] |  |  |  |
Stock incentive plans |  |  |  |
Number of additional shares reserved for issuance |  |  |  | 1,700,000
Maximum annual increase in outstanding shares on the last day of the immediately preceding fiscal year (as a percent) |  | 4.00% |  |
Number of shares available for issuance |  | 887,724 |  |
Stock Incentive Plan2013 [Member] | Options | Outside director serving as a member of Board of Directors for at least six months |  |  |  |
Stock incentive plans |  |  |  |
Shares granted as annual grant |  | 10,000 |  |
Stock Incentive Plan2013 [Member] | Options | Outside director serving as a member of Board of Directors for at least six months | Minimum |  |  |  |
Stock incentive plans |  |  |  |
Period for which director has to serve as board of director to receive grant to purchase shares |  | 6 months |  |
Stock Incentive Plan2013 [Member] | Options | Outside director |  |  |  |
Stock incentive plans |  |  |  |
Minimum purchase price as a percentage of fair market value |  | 100.00% |  |
Stock Incentive Plan2013 [Member] | Options | Outside director | Maximum |  |  |  |
Stock incentive plans |  |  |  |
Expiration period after termination of service |  | 12 months |  |
Stock Incentive Plan2013 [Member] | ISO | Maximum |  |  |  |
Stock incentive plans |  |  |  |
Minimum purchase price as a percentage of fair market value |  | 100.00% |  |
Stock Incentive Plan2013 [Member] | NSO | Minimum |  |  |  |
Stock incentive plans |  |  |  |
Minimum purchase price as a percentage of fair market value |  | 100.00% |  |
Stock Incentive Plan2013 [Member] | NSO | Outside director who was not previously an employee |  |  |  |
Stock incentive plans |  |  |  |
Percentage of award vesting after one year |  | 25.00% |  |
Shares granted as initial grant |  | 35,000 |  |
Percentage of award granted which vests on a monthly basis |  | 0.75 |  |
Period over which remaining shares will vest on a monthly basis |  | 3 years |  |

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