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Stockholders' Equity and Stock Plans - Options Outstanding Rollforward (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014 | Dec. 31, 2013
Number of Shares |  |  |  |
Options outstanding, beginning balance (in shares) | 185,269 | 194,672 | 220,456 |
Granted (in shares) | 32,637 | 28,320 | 26,421 |
Cancelled, expired or forfeited (in shares) |  | (652) | (2,790) |
Exercised (in shares) | (36,117) | (37,071) | (49,415) |
Options outstanding, ending balance (in shares) | 181,789 | 185,269 | 194,672 | 220,456
Exercisable (vested), ending balance (in shares) | 103,211 | 114,581 | 133,153 |
Weighted Average Exercise Price |  |  |  |
Options outstanding, beginning balance (usd per share) | $ 38.35 | $ 35.14 | $ 32.74 |
Granted (usd per share) | 49.37 | 50.70 | 44.83 |
Cancelled, expired or forfeited (usd per share) |  | 48.38 | 39.01 |
Exercised (usd per share) | 33.98 | 30.72 | 29.39 |
Options outstanding, ending balance (usd per share) | 41.20 | 38.35 | 35.14 | $ 32.74
Exercisable (vested), ending balance (usd per share) | $ 36.65 | $ 34.12 | $ 32.31 |
Aggregate Intrinsic Value |  |  |  |
Options outstanding, beginning balance | $ 2,788 | $ 3,398 | $ 2,349 |
Exercised | 661 | 755 | 771 |
Options outstanding, ending balance | 5,190 | 2,788 | 3,398 | $ 2,349
Exercisable (vested) at year end | $ 3,416 | $ 2,209 | $ 2,701 |
Weighted Average Grant-Date Fair Value |  |  |  |
Granted (usd per share) | $ 10.11 | $ 12.21 | $ 12.04 |
Weighted Average Remaining Contractual Term |  |  |  |
Options outstanding (in years) | 5 years 9 months 7 days | 5 years | 4 years 5 months 22 days | 4 years 18 days
Exercisable (vested) | 4 years 2 months 4 days | 3 years 2 months 15 days | 2 years 10 months 16 days |

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- Definition Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Grant-Date Fair Value [Roll Forward] + References No definition available. + Details
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- Definition Share-based Compensation Arrangement by Share-based Payment Award, Options, Weighted Average Remaining Contractual Term [Abstract] + References No definition available. + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(2) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of fully vested and expected to vest options that are exercisable. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(2) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition The number of exercisable share options (fully vested and expected to vest) that may be converted as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(2) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(1) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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