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Stock Option and Equity Incentive Plans - Restricted Stock Units (Details 3) - USD ($)
 12 Months Ended
Dec. 16, 2015
Jun. 10, 2015
Feb. 24, 2015
Jun. 11, 2014
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Future share-based compensation expense              
2016         $ 374,000    
2017         239,000    
2018         125,000    
2019         16,000    
Total         754,000    
Tax benefits recognized as additional paid-in capital         $ 356,000 $ 1,219,000 $ 818,000
Incentive Plan              
Stock Option and Equity Incentive Plans              
Shares approved for issuance         40,645    
Options              
Stock Option and Equity Incentive Plans              
The total intrinsic value of all options exercised         $ 1,300,000 3,400,000 2,100,000
Total amount of consideration received from exercise of options         $ 394,000 $ 709,000 $ 416,000
Shares surrendered in lieu of payment of exercise price and withholding taxes         1,632 32,164 26,662
Shares surrendered in lieu of payment of exercise price of awards         1,632 14,931  
Shares surrendered in lieu of payment of withholding taxes (in shares)         0 17,233  
Average market price of shares surrendered in lieu of payment of withholding taxes (in dollars per share)         $ 21.97 $ 25.42 $ 20.54
Compensation expense         $ 282,000 $ 354,000 $ 214,000
Future share-based compensation expense              
2016         133,000    
2017         44,000    
2018         16,000    
Total         $ 193,000    
Restricted Stock Units              
Stock Option and Equity Incentive Plans              
Shares surrendered in lieu of payment of withholding taxes (in shares)         3,405 9,878 22,089
Compensation expense         $ 274,000 $ 237,000 $ 250,000
Restricted Stock Units              
Unvested at the beginning of the period (in shares)         35,088    
Awarded (in shares)         15,983    
Shares distributed (in shares)         (10,426)    
Unvested at the end of the period (in shares)         40,645 35,088  
Weighted Average Award Date Fair Value              
Unvested at the beginning of the period (in dollars per share)         $ 17.87    
Awarded (in dollars per share)         23.46    
Shares distributed (in dollars per share)         18.35    
Unvested at the end of the period (in dollars per share)         19.67 $ 17.87  
Net-share settlement, market price per share         $ 23.15 $ 25.88 $ 19.29
Future share-based compensation expense              
2016         $ 241,000    
2017         195,000    
2018         109,000    
2019         16,000    
Total         561,000    
Common Stock | Non-employee members of Board of Directors              
Stock Option and Equity Incentive Plans              
Compensation expense       $ 122,000 105,000 $ 8,750 $ 60,000
Shares of common stock issued 391 5,256          
Closing price (in dollars per share) $ 22.36 $ 19.97          
Common Stock | Incentive Plan | Chairman, Chief Executive Officer and President              
Stock Option and Equity Incentive Plans              
Compensation expense         $ 400,000 $ 400,000 $ 400,000
Shares approved for issuance     400,000