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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 $ 664 $ 709
Cumulative convertible preferred stock, at par value (in dollars per share) $ 0.0001 $ 0.0001
Cumulative convertible preferred stock, shares authorized (in shares) 100,000 100,000
Cumulative convertible preferred stock, shares issued (in shares) 0 0
Cumulative convertible preferred stock, shares outstanding (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Common stock, shares authorized (in shares) 80,000,000 80,000,000
Common stock, shares issued (in shares) 59,684,669 56,220,214
Common stock, shares outstanding (in shares) 56,972,580 53,536,101
Treasury stock, shares (in shares) 2,028,847 1,784,897