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Unaudited Condensed Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands | Jun. 30, 2017 | Dec. 31, 2016
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Statement of Financial Position [Abstract] |  |
Accounts receivable, allowance for doubtful accounts | $ 994 | $ 664
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) | 60,504,613 | 59,684,669
Common stock, shares outstanding (in shares) | 57,313,766 | 56,972,580
Treasury stock, shares (in shares) | 2,709,680 | 2,028,847

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