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Stockholders' Equity (Details) - USD ($)
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]    
Outstanding balance, Weighted Average Exercise Price $ 3.57 $ 3.42
Grants, Weighted Average Exercise Price 6.98 7.40
Terminations, Weighted Average Exercise Price 6.16 4.95
Exercises, Weighted Average Exercise Price 5.59 4.29
Outstanding balance, Weighted Average Exercise Price 3.89 $ 3.57
Exercisable, Weighted Average Exercise Price $ 2.52  
Aggregate Intrinsic Value    
Outstanding balance, Aggregate Intrinsic Value [1] $ 945,000 $ 364,000
Outstanding balance, Aggregate Intrinsic Value [1] 517,000 $ 945,000
Exercisable, Aggregate Intrinsic Value [1] $ 524,000  
Stock Option [Member]    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Exercises 16,000  
2000 Plan [Member] | Stock Option [Member]    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Beginning Balance, Outstanding 131,500 157,500
Grants
Terminations (5,000)
Exercises (26,000)
Ending balance, Outstanding 126,500 131,500
Exercisable 126,500  
Aggregate Intrinsic Value    
Reserved for future grants  
2010 Plan [Member] | Stock Option [Member]    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Beginning Balance, Outstanding 106,500 95,500
Grants 46,000 16,000
Terminations (12,000) (3,000)
Exercises (16,000) (2,000)
Ending balance, Outstanding 124,500 106,500
Exercisable 26,500  
Aggregate Intrinsic Value    
Reserved for future grants 155,500  
[1] Intrinsic value is the difference between the fair market value as of the date indicated and as of the date of the option grant.