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Stock-based Compensation - Options (Details) - Options [Member] - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2017
Mar. 31, 2016
Dec. 31, 2016
Number of options outstanding [Roll Forward]      
Options outstanding, beginning of period (in shares) 3,294,000    
Granted (in shares) 60,000 68,000  
Exercised (in shares) (242,000)    
Canceled and expired (in shares) (14,000)    
Options outstanding, end of period (in shares) 3,098,000   3,294,000
Options vested and unvested options expected to vest, net of forfeitures, end of period (in shares) 3,032,000    
Options exercisable, end of period (in shares) 1,609,000    
Weighted average exercise price [Roll Forward]      
Options outstanding, beginning of period (in dollars per share) $ 3.38    
Granted (in dollars per share) 5.95    
Exercised (in dollars per share) 3.13    
Canceled and expired (in dollars per share) 2.18    
Options outstanding, end of period (in dollars per share) 3.46   $ 3.38
Options vested as of March 31, 2015 and unvested options expected to vest, net of forfeitures (in dollars per share) 3.44    
Options exercisable, end of period (in dollars per share) 3.40    
Weighted-average grant date fair value of stock options granted (in dollars per share) $ 2.76 $ 1.01  
Weighted average Remaining Contractual Life [Abstract]      
Options outstanding 7 years 2 months 1 day   7 years 2 months 23 days
Options vested and unvested options expected to vest, net of forfeitures, end of period 7 years 1 month 17 days    
Option exercisable, end of period 5 years 8 months 16 days    
Aggregate Intrinsic Value [Abstract]      
Options outstanding, beginning of period $ 5,301    
Options outstanding, end of period 7,304   $ 5,301
Options vested and expected to vest, end of period 7,194    
Options exercisable, end of period $ 3,896    
Closing price (in dollars per share) $ 5.80