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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
	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

X

- Definition

Represents the effect of stock based compensation expense on basic earnings per share.

+ References

No definition available.

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- Definition

Represents the effect of stock based compensation expense on diluted earnings per share.

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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

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- Definition

The amount of expense, net of income tax, 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.

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- Definition

The average number of shares or units issued and outstanding that are used in calculating diluted EPS or earnings per unit (EPU), determined based on the timing of issuance of shares or units in the period.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 260
-SubTopic 10
-Section 45
-Paragraph 16
-URI http://asc.fasb.org/extlink&oid=64863997&loc=d3e1505-109256

Reference 2: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 260
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-Section 50
-Paragraph 1
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Number of [basic] shares or units, after adjustment for contingently issuable shares or units and other shares or units not deemed outstanding, determined by relating the portion of time within a reporting period that common shares or units have been outstanding to the total time in that period.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 260
-SubTopic 10
-Section 50
-Paragraph 1
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=6371337&loc=d3e3550-109257

Reference 2: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 260
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-Section 45
-Paragraph 10
-URI http://asc.fasb.org/extlink&oid=64863997&loc=d3e1448-109256

Reference 3: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
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-URI http://asc.fasb.org/extlink&oid=6528421

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