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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