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Stockholders' Equity (Details Textual) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016
Stock-Based Compensation (Textual) [Abstract] |  |  |
Stock-based compensation expense | $ 3,321 | $ 3,518 | $ 3,651
Number of shares authorized (in shares) | 3,000,000 |  |
Number of additional shares authorized (in shares) | 1,690,000 |  |
Stock-based compensation awards excluding ESPP |  |  |
Stock-Based Compensation (Textual) [Abstract] |  |  |
Stock-based compensation expense | $ 3,267 | 3,468 |
Stock options |  |  |
Stock-Based Compensation (Textual) [Abstract] |  |  |
Stock-based compensation expense | $ 856 | $ 707 | $ 702
Stock award, vesting period | 4 years |  |
Stock award, exercise period | 5 years |  |
Awards other than options, decrease in number of shares reserved for issuance (in shares) | 0 |  |
Common stock, shares reserved for issuance (in shares) | 12,415,000 |  |
Number of shares available for future grants (in shares) | 944,000 |  |
Dividend yield | 0.00% | 0.00% | 0.00%
Weighted-average fair value per share, options granted (in dollars per share) | $ 3.82 | $ 2.74 | $ 2.77
Stock options, total intrinsic value of options exercised | $ 163 | $ 149 | $ 484
Unrecognized compensation expense | $ 2,383 |  |
Weighted-average period of recognition (in years) | 2 years 9 months |  |
Cash received under stock option plans for exercises | $ 317 | 1,236 | 2,438
Restricted stock |  |  |
Stock-Based Compensation (Textual) [Abstract] |  |  |
Stock-based compensation expense | $ 2,411 | $ 2,760 | $ 2,938
Stock award, vesting period | 4 years |  |
Unrecognized compensation expense | $ 3,573 |  |
Weighted-average period of recognition (in years) | 2 years 12 days |  |
Granted (in shares) | 200,000 | 271,000 | 424,000
Weighted-average grant-date fair value (in dollars per share) | $ 11.47 | $ 8.83 | $ 8.68
Employee stock purchase plan |  |  |
Stock-Based Compensation (Textual) [Abstract] |  |  |
Stock-based compensation expense | $ 54 | $ 50 | $ 11
Number of shares available for future grants (in shares) | 937,000 |  |
Shares issued (in shares) | 17,000 | 46,000 | 18,000
Employee stock purchase plan, discount percentage attributable to compensation expense | 15.00% |  |
Cash received under the employee stock purchase plan | $ 167 | $ 358 | $ 146
Employee stock purchase plan | Maximum |  |  |
Stock-Based Compensation (Textual) [Abstract] |  |  |
Employee election percentage of pre-tax compensation withheld to purchase Company's common stock shares | 6.00% |  |
ESPP Plan | Employee stock purchase plan |  |  |
Stock-Based Compensation (Textual) [Abstract] |  |  |
Number of shares authorized (in shares) | 1,650,000 |  |
Percentage of Company's common stock share price | 85.00% |  |

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- Definition Represents the expense recognized during the period arising from equity-based compensation arrangements (for example, shares of stock, unit, stock options or other equity instruments) with employees, directors and certain consultants qualifying for treatment as employees. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5047-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=115993241&loc=d3e301413-122809 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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