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Share-Based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2017
Mar. 31, 2016
Stock option activity    
Options outstanding (in shares) 202,215  
Options exercised (in shares) (54,915)  
Options cancelled (in shares) (1,160)  
Options outstanding (in shares) 146,140  
Options vested or expected to vest (in shares) 145,318  
Options exercisable (in shares) 132,190  
Stock option activity, weighted average exercise price    
Options Outstanding, weighted average exercise price (in dollars per share) $ 6.87  
Options exercised, weighted average exercise price (in dollars per share) 6.76  
Options canceled, weighted average exercise price (in dollars per share) 8.02  
Options Outstanding, weighted average exercise price (in dollars per share) 6.91  
Options vested or expected to vest, weighted average exercise price (in dollars per share) 6.90  
Options exercisable, weighted average exercise price (in dollars per share) $ 6.79  
Options outstanding, weighted average remaining contractual term 3 years 11 months 15 days  
Options vested or expected to vest, weighted average remaining contractual term 3 years 11 months 11 days  
Options exercisable, weighted average remaining contractual term 3 years 9 months 17 days  
Options outstanding, aggregate intrinsic value $ 1,987  
Options vested or expected to vest, aggregate intrinsic value 1,977  
Options exercisable, aggregate intrinsic value 1,813  
Intrinsic value of options exercised 751 $ 114
Cash received from options exercised 371 143
Excess tax benefit realized for options exercises $ 92 $ 5