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Employee Benefit Plans and Stock-based Compensation - Stock-based compensation (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Stock-based compensation in the form of employee stock options and restricted stock [Abstract] |  |  |
Total stock-based compensation | $ 1,096 | $ 1,349 | $ 1,129
Net effect on net income (loss) | $ 1,096 | $ 1,349 | $ 1,129
Weighted Average Number of Shares Outstanding, Basic | 32,139 | 32,183 | 32,452
Weighted Average Number of Shares Outstanding, Diluted | 32,894 | 32,183 | 32,452
Effect on basic net income per share (in dollars per share) | $ (0.03) | $ (0.04) | $ (0.03)
Effect on diluted net income per share (in dollars per share) | $ (0.03) | $ (0.04) | $ (0.03)
Cost of Revenue [Member] |  |  |
Stock-based compensation in the form of employee stock options and restricted stock [Abstract] |  |  |
Total stock-based compensation | $ 23 | $ 20 | $ 18
Selling, General and Administrative [Member] |  |  |
Stock-based compensation in the form of employee stock options and restricted stock [Abstract] |  |  |
Total stock-based compensation | 908 | 1,148 | 938
Research and Development [Member] |  |  |
Stock-based compensation in the form of employee stock options and restricted stock [Abstract] |  |  |
Total stock-based compensation | $ 165 | $ 181 | $ 173

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- Definition Represents the expense recognized during the period arising from equity-based compensation arrangements (for example, shares of stock, unit, stock options or other equity instruments) with employees, directors and certain consultants qualifying for treatment as employees. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=27013229&loc=d3e301413-122809 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5047-113901 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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