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Consolidated Statements of Operations - USD ($)
shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Sales:      
Product $ 76,213 $ 81,143 $ 90,295
Service 108,421 91,448 71,993
Net sales 184,634 172,591 162,288
Costs and expenses:      
Costs of product sales 47,404 48,843 51,518
Costs of service sales 54,816 50,301 45,058
Research and development 14,039 14,101 12,987
Sales, marketing and support 35,714 32,976 28,792
General and administrative 29,453 24,448 17,764
Total costs and expenses 181,426 170,669 156,119
Income from operations 3,208 1,922 6,169
Interest income 546 738 657
Interest expense 1,460 1,296 637
Other income (expense) 372 (39) 494
Income before income tax expense 2,666 1,325 6,683
Income tax expense 413 1,284 2,150
Net income $ 2,253 $ 41 $ 4,533
Per share information:      
Net income per share, basic (in dollars per share) $ 0.14 $ 0.00 $ 0.30
Net income per share, diluted (in dollars per share) $ 0.14 $ 0.00 $ 0.30
Number of shares used in per share calculation:      
Basic (in shares) 15,625 15,420 15,144
Diluted (in shares) 15,834 15,605 15,341