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CONSOLIDATED BALANCE SHEETS (Unaudited) (Parenthetical) - USD ($)
$ in Thousands
Dec. 31, 2016
Dec. 31, 2015
Current assets:    
Accounts receivable, allowances for doubtful accounts $ 1,013 $ 985
Stockholders' equity:    
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 70,000,000 70,000,000
Common stock, shares issued (in shares) 33,032,000 32,548,000
Common stock, shares outstanding (in shares) 33,032,000 32,548,000
Series A Preferred Stock    
Stockholders' equity:    
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 2,000,000 2,000,000
Preferred stock, shares issued (in shares) 883,000 883,000
Preferred stock, shares outstanding (in shares) 883,000 883,000
Preferred stock, liquidation preference $ 6,600 $ 6,500