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Commitments and Contingencies (Details)
 12 Months Ended
Dec. 31, 2017
USD ($)
ft²
Dec. 31, 2016
USD ($)
Dec. 31, 2015
USD ($)
Leases [Abstract]      
Area of leased property (in square feet) | ft² 19,467    
Rent expenses under the operating leases $ 302,000 $ 331,000 $ 313,000
Term of royalty agreement 8 years    
Aggregate amount payable towards royalty $ 7,000,000    
Royalty expense 526,000 447,000 583,000
Credit of royalty expense 49,000 $ 128,000 $ 217,000
Operating leases      
2018 185,000    
2019 176,000    
2020 164,000    
2021 12,000    
2022 12,000    
Total 549,000    
Royalty agreement      
Remaining royalty payments due 575,000    
Dingxing      
Leases [Abstract]      
Total investment agreement value 90,000,000    
Kazuo      
Leases [Abstract]      
Total investment agreement value $ 15,000,000