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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2017
Share-based Compensation [Abstract] |
Schedule of weighted-average assumptions used to value options as of their grant date | The weighted-average assumptions used to value options as of their grant date were as follows:
| Year Ended December 31,
| 2017 |  | 2016 |  | 2015
Risk-free interest rate | 1.98 | % |  | 1.43 | % |  | 1.55 | %
Expected volatility | 35.7 | % |  | 38.2 | % |  | 43.3 | %
Expected life (in years) | 4.22 |  |  | 4.18 |  |  | 4.17 |
Dividend yield | 0 | % |  | 0 | % |  | 0 | %
Schedule of share-based compensation, stock options, activity | The changes in outstanding stock options for the year ended December 31, 2017, 2016, and 2015 are as follows:
| Number of Options |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in Years) |  | Aggregate Intrinsic Value
Outstanding at December 31, 2016 | 686 |  |  | $ | 11.41 |  |  |  |  |
Granted | 682 |  |  | $ | 8.65 |  |  |  |  |
Exercised | (134 | ) |  | $ | 9.24 |  |  |  |  |
Expired, canceled or forfeited | (170 | ) |  | $ | 10.46 |  |  |  |  |
Outstanding at December 31, 2017 | 1,064 |  |  | $ | 10.06 |  |  | 3.27 |  | $ | 1,268 |
Exercisable at December 31, 2017 | 307 |  |  | $ | 12.37 |  |  | 1.37 |  | $ | 9 |
Options vested or expected to vest at December 31, 2017 | 1,064 |  |  | $ | 10.06 |  |  | 3.27 |  | $ | 1,268 |
Schedule of share-based compensation, activity | Restricted stock activity under the 2006 Plan and the 2016 Plan for 2017 is as follows:
| Number of Shares |  | Weighted- average grant date fair value
Outstanding at December 31, 2016, unvested | 644 |  |  | $ | 10.58 |
Granted | 271 |  |  | 8.83 |
Vested | (269 | ) |  | 11.20 |
Forfeited | (42 | ) |  | 9.57 |
Outstanding at December 31, 2017, unvested | 604 |  |  | $ | 9.59 |

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- Definition Tabular disclosure for share-based compensation plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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