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Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
Dec. 31, 2016
Dec. 31, 2015
Statement of Financial Position [Abstract]    
Accounts receivable, allowance for doubtful accounts $ 535 $ 621
Preferred stock, shares authorized 500,000 500,000
Preferred stock, shares issued 0 0
Preferred stock, shares outstanding 0 0
Common stock, par value $ 0.001 $ 0.001
Common stock, shares authorized 75,000,000 75,000,000
Common stock, shares issued 40,097,000 40,108,000
Common stock, shares outstanding 40,097,000 40,108,000