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Commitments and Contingencies (Details) - USD ($)
 12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Leases [Abstract]      
Rent expenses under the operating leases $ 313,000 $ 260,000 $ 638,000
Summary of total minimum lease payments [Abstract]      
2016 173,000    
2017 167,000    
2018 39,000    
2019 30,000    
2020 27,000    
Thereafter 97,000    
Total $ 533,000    
Royalty Agreement [Abstract]      
Term of royalty agreement 8 years    
Aggregate amount payable towards royalty $ 7,000,000    
Royalty expense 583,000 577,000 530,000
Credit of royalty expense 217,000 $ 223,000 $ 270,000
Summary of total royalty payments under the agreement[Abstract]      
2016 575,000    
2017 575,000    
2018 575,000    
Total royalty payments $ 1,725,000