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Stock Option and Equity Incentive Plans - Stock Options Activity (Details 2) - Options
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2015
USD ($)
$ / shares
shares
Shares Under Options  
Outstanding at the beginning of the period (in shares) | shares 340,107
Granted (in shares) | shares 18,844
Exercised (in shares) | shares (78,746)
Cancelled or expired (in shares) | shares (10,000)
Outstanding at the end of the period (in shares) | shares 270,205
Exercisable at the end of the period (in shares) | shares 222,706
Vested and expected to vest at the end of the period (in shares) | shares 270,205
Weighted Average Exercise Price  
Outstanding at the beginning of the period (in dollars per share) | $ / shares $ 12.84
Granted (in dollars per share) | $ / shares 20.14
Exercised (in dollars per share) | $ / shares 5.03
Cancelled or expired (in dollars per share) | $ / shares 18.85
Outstanding at the end of the period (in dollars per share) | $ / shares 15.40
Exercisable at the end of the period (in dollars per share) | $ / shares 14.20
Vested and expected to vest at the end of the period (in dollars per share) | $ / shares $ 15.40
Weighted Average Remaining Contractual Life  
Outstanding at the end of the period 3 years 9 months 18 days
Exercisable at the end of the period 4 years 15 days
Vested and expected to vest at the end of the period 3 years 9 months 18 days
Aggregate Intrinsic Value  
Outstanding at the end of the period | $ $ 2,311
Exercisable at the end of the period | $ 2,166
Vested and expected to vest at the end of the period | $ $ 2,311