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Stockholders' Equity and Stock-based Compensation - Schedule of Stock Option Plan Activity (Details) - Stock Option Plan [Member]
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2019
USD ($)
$ / shares
shares
Number of shares, Outstanding, Beginning balance | shares 2,482,009
Number of shares, Options granted | shares 291,000
Number of shares, Options exercised | shares
Number of shares, Options cancelled/forfeit | shares (44,287)
Number of shares, Outstanding, Ending balance | shares 2,728,722
Number of shares, Options exercisable | shares 1,398,665
Number of shares, Options vested and expected to vest | shares 2,604,215
Weighted Avg. Exercise Price, Outstanding, Beginning balance | $ / shares $ 5.10
Weighted Avg. Exercise Price, Options granted | $ / shares 6.30
Weighted Avg. Exercise Price, Options exercised | $ / shares
Weighted Avg. Exercise Price, Options cancelled/forfeit | $ / shares 6.24
Weighted Avg. Exercise Price, Outstanding, Ending balance | $ / shares 5.21
Weighted Avg. Exercise Price, Exercisable Ending Balance | $ / shares 4.74
Weighted Avg. Exercise Price, Vested and expected to vest | $ / shares $ 5.17
Weighted Avg. Remaining Contractual Life, Options outstanding 5 years 9 months 3 days
Weighted Avg. Remaining Contractual Life, Options exercisable 6 years 7 days
Weighted Avg. Remaining Contractual Life, Options vested and expected to vest 5 years 9 months 11 days
Aggregate Intrinsic Value, Options outstanding | $ $ 5,994
Aggregate Intrinsic Value, Options exercisable | $ 3,763
Aggregate Intrinsic Value, Options vested and expected to vest | $ $ 5,815