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Commitments and Contingencies (Details)
 12 Months Ended
Dec. 31, 2016
USD ($)
ft²
Dec. 31, 2015
USD ($)
Dec. 31, 2014
USD ($)
Leases [Abstract]      
Area of property under long-term operating lease (in square feet) | ft² 19,467    
Rent expenses under the operating leases $ 331,000 $ 313,000 $ 260,000
Term of royalty agreement 8 years    
Aggregate amount payable towards royalty $ 7,000,000    
Royalty expense 447,000 583,000 577,000
Credit of royalty expense 128,000 $ 217,000 $ 233,000
Operating leases      
2017 174,000    
2018 37,000    
2019 28,000    
2020 25,000    
2021 25,000    
Thereafter 66,000    
Total 355,000    
Royalty agreement      
2017 575,000    
2018 575,000    
Total $ 1,150,000