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Stockholders' Equity and Stock Plans - Narrative (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jan. 20, 2017
$ / shares
Sep. 30, 2015
$ / shares
shares
Nov. 30, 2011
investor
Dec. 31, 2016
USD ($)
$ / shares
shares
Dec. 31, 2015
USD ($)
$ / shares
shares
Dec. 31, 2014
USD ($)
shares
Jun. 17, 2016
May 11, 2010
shares
Jul. 02, 2007
Jul. 01, 2007
shares
May 08, 2007
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of institutional investors that purchased warrant | investor     2                
Unrecognized compensation expense | $       $ 1,600              
Total compensation cost for share-based payment arrangements | $       994 $ 636 $ 446          
Share-based compensation income tax benefit recognized | $       318 194 128          
Tax benefit realized from disqualifying dispositions of incentive stock options | $       $ 70 $ 49 76          
Percentage of share ownership defining an acquiring person             10.00%   15.00%    
Preferred stock, authorized (in shares)       5,000,000 5,000,000            
Preferred stock, no par value (in dollars per share) | $ / shares       $ 0 $ 0            
Subsequent event                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Dividends declared per common share (usd per share) | $ / shares $ 0.27                    
Stock options                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Total grant-date fair value of option shares vested | $       $ 282 $ 202 187          
Stock options | During 2006 through 2014                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting period       5 years              
Expiration period of grants       10 years              
Stock options | During 2006 through 2014 | Vesting Rate, Year One                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Stock options | During 2006 through 2014 | Vesting Rate, Year Two                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Stock options | During 2006 through 2014 | Vesting Rate, Year Three                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Stock options | During 2006 through 2014 | Vesting Rate Year Four                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Stock options | During 2006 through 2014 | Vesting Rate Year Five                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Stock options | Prior to 2016                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting period       4 years              
Expiration period of grants       7 years              
Stock options | Prior to 2016 | Immediately Upon Grant                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Stock options | Prior to 2016 | Vesting Rate, Year One                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Stock options | Prior to 2016 | Vesting Rate, Year Two                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Stock options | Prior to 2016 | Vesting Rate, Year Three                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Stock options | Prior to 2016 | Vesting Rate Year Four                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Stock options | After 2014                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       33.00%              
Award vesting period       3 years              
Expiration period of grants       10 years              
Stock options | During 2016                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       33.00%              
Award vesting period       3 years              
Expiration period of grants       10 years              
Restricted stock award                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Total grant-date fair value of option shares vested | $       $ 380 $ 262 $ 227          
Restricted stock award | During 2006 through 2014                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting period       5 years              
Expiration period of grants       10 years              
Restricted stock award | During 2006 through 2014 | Vesting Rate, Year One                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Restricted stock award | During 2006 through 2014 | Vesting Rate, Year Two                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Restricted stock award | During 2006 through 2014 | Vesting Rate, Year Three                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Restricted stock award | During 2006 through 2014 | Vesting Rate Year Four                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Restricted stock award | During 2006 through 2014 | Vesting Rate Year Five                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       20.00%              
Performance shares                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting period       3 years              
Minimum | Performance shares                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       0.00%              
Maximum | Performance shares                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage       200.00%              
Director Stock Plan, 2010                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of common shares approved to be issued in each plan               150,000      
Number of shares available for future grants under plan       113,842              
Equity Plan, 2007                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of common shares approved to be issued in each plan                     500,000
Number of shares available for future grants under plan       155,750              
Number of shares to be granted       250,000              
Employee Stock Purchase Plan, 2007                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of common shares approved to be issued in each plan                   200,000  
Number of shares available for future grants under plan       192,965              
Discount from closing market price at end of each quarter       5.00%              
Employee Stock Purchase Plan, 2007 | Minimum                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Approved payroll deduction to purchase shares, percentage       1.00%              
Employee Stock Purchase Plan, 2007 | Maximum                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Approved payroll deduction to purchase shares, percentage       15.00%              
Former 1999 Stock Option Plan                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of options granted       0              
Common Stock                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of common stock shares authorized to be purchased by warrant   157,711                  
Exercise price of warrant to purchase common stock | $ / shares   $ 26.63                  
Net issuance of shares of common stock from cashless exercise (in shares)   70,591                  
Common Stock | Director Stock Plan, 2010                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Shares awarded in period from plan       4,607 5,295 5,306          
Common Stock | U.S. Treasury Capital Purchase Program (TCPP)                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of common stock shares authorized to be purchased by warrant       154,242              
Exercise price of warrant to purchase common stock | $ / shares       $ 27.23