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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Stockholders' equity:    
Preferred stock, shares authorized 10,000,000  
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized 40,000,000 40,000,000
Common stock, shares issued 31,002,832 27,194,251
Common stock, shares outstanding 30,859,753 27,051,172
Series A Preferred Stock    
Stockholders' equity:    
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized 3,500,000 3,500,000
Preferred stock, shares issued 0 0
Preferred stock, shares outstanding 0 0
Preferred stock, dividend rate (as a percent) 6.00% 6.00%
Series B Preferred Stock    
Stockholders' equity:    
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized 3,588,139 3,588,139
Preferred stock, shares issued 975,639 1,975,639
Preferred stock, shares outstanding 975,639 1,975,639