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Income Taxes - Reconciliation of the Beginning and Ending Amount of Gross Unrecognized Tax Benefits (Details) - USD ($)
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Beginning balance $ 2,425,000 $ 2,047,000 $ 1,708,000
Increases/(decreases) for current year tax positions 308,000 357,000 242,000
Increases/(decreases) for prior year tax positions (268,000) 21,000 97,000
Ending balance 2,465,000 2,425,000 2,047,000
Gross unrecognized tax benefits 2,500,000 2,400,000  
Unrecognized interest or penalties $ 0 $ 0 $ 0