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Employee Benefit Plans and Stock-based Compensation - Options Excerise prices (Details) shares in Thousands	12 Months Ended
	Dec. 31, 2016 $ / shares shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Options outstanding, shares (in shares) | shares	3,294
Weighted-average Exercise Price (in dollars per share)	$ 3.38
Weighted-average Remaining Contractual Life	7 years 2 months 23 days
Options Vested and Exercisable Shares (in shares) | shares	1,718
Option Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 3.45
$1.59 - $2.14
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	1.59
Range of exercise price, maximum (in dollars per share)	$ 2.14
Options outstanding, shares (in shares) | shares	192
Weighted-average Exercise Price (in dollars per share)	$ 1.80
Weighted-average Remaining Contractual Life	3 years 6 months 7 days
Options Vested and Exercisable Shares (in shares) | shares	174
Option Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 1.76
$2.18 - $2.18
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	2.18
Range of exercise price, maximum (in dollars per share)	$ 2.18
Options outstanding, shares (in shares) | shares	785
Weighted-average Exercise Price (in dollars per share)	$ 2.18
Weighted-average Remaining Contractual Life	8 years 10 months 2 days
Options Vested and Exercisable Shares (in shares) | shares	190
Option Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.18
$2.29 - $2.36
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	2.29
Range of exercise price, maximum (in dollars per share)	$ 2.36
Options outstanding, shares (in shares) | shares	484
Weighted-average Exercise Price (in dollars per share)	$ 2.33
Weighted-average Remaining Contractual Life	7 years 1 month 2 days
Options Vested and Exercisable Shares (in shares) | shares	329
Option Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.33
$2.47 - $2.51
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	2.47
Range of exercise price, maximum (in dollars per share)	$ 2.51
Options outstanding, shares (in shares) | shares	346
Weighted-average Exercise Price (in dollars per share)	$ 2.47
Weighted-average Remaining Contractual Life	7 years 10 months 13 days
Options Vested and Exercisable Shares (in shares) | shares	162
Option Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.47
$2.56 - $2.91
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	2.56
Range of exercise price, maximum (in dollars per share)	$ 2.91
Options outstanding, shares (in shares) | shares	340
Weighted-average Exercise Price (in dollars per share)	$ 2.84
Weighted-average Remaining Contractual Life	6 years 5 months 23 days
Options Vested and Exercisable Shares (in shares) | shares	272
Option Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.91
$4.79 - $4.92
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	4.79
Range of exercise price, maximum (in dollars per share)	$ 4.92
Options outstanding, shares (in shares) | shares	220
Weighted-average Exercise Price (in dollars per share)	$ 4.80
Weighted-average Remaining Contractual Life	4 years 7 months 10 days
Options Vested and Exercisable Shares (in shares) | shares	220
Option Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 4.80
$5.21 - $5.21
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	5.21
Range of exercise price, maximum (in dollars per share)	$ 5.21
Options outstanding, shares (in shares) | shares	556
Weighted-average Exercise Price (in dollars per share)	$ 5.21
Weighted-average Remaining Contractual Life	9 years 9 months 29 days
$5.61 - $5.83
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	$ 5.61
Range of exercise price, maximum (in dollars per share)	$ 5.83
Options outstanding, shares (in shares) | shares	321
Weighted-average Exercise Price (in dollars per share)	$ 5.78
Weighted-average Remaining Contractual Life	3 years 11 months 23 days
Options Vested and Exercisable Shares (in shares) | shares	321
Option Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 5.78
$6.31 - $6.31
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	6.31
Range of exercise price, maximum (in dollars per share)	$ 6.31
Options outstanding, shares (in shares) | shares	39
Weighted-average Exercise Price (in dollars per share)	$ 6.31
Weighted-average Remaining Contractual Life	9 months 22 days
Options Vested and Exercisable Shares (in shares) | shares	39
Option Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 6.31
$7.82 - $7.82
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	7.82
Range of exercise price, maximum (in dollars per share)	$ 7.82
Options outstanding, shares (in shares) | shares	11
Weighted-average Exercise Price (in dollars per share)	$ 7.82
Weighted-average Remaining Contractual Life	3 years 10 months 2 days
Options Vested and Exercisable Shares (in shares) | shares	11
Option Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 7.82

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The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

+ 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 (g)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied.

+ 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)(iii)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices.

+ 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)-(ii)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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+ References

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (g)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and 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
-Subparagraph (c)(1)(iii)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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The weighted average price as of the balance sheet date at which grantees could acquire the underlying shares with respect to all outstanding stock options which are in the customized range of exercise prices.

+ 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)-(ii)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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Weighted average remaining contractual term of outstanding stock options, 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
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-Section 50
-Paragraph 2
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-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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