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Stockholders' Equity (Details) - USD ($) | 3 Months Ended | 12 Months Ended
--- | --- | ---
Mar. 31, 2017 | Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract] |  |  |
Outstanding balance, Weighted Average Exercise Price |  | $ 3.89 | $ 3.57
Grants, Weighted Average Exercise Price |  | 5.84 | 6.98
Terminations, Weighted Average Exercise Price |  | 4.90 | 6.16
Exercises, Weighted Average Exercise Price |  | 5.25 | 5.59
Outstanding balance, Weighted Average Exercise Price |  | 4.53 | $ 3.89
Exercisable, Weighted Average Exercise Price |  | 2.64 |
Weighted average exercise price vested and expected to vest |  | $ 4.53 |
Aggregate Intrinsic Value |  |  |
Outstanding balance, Aggregate Intrinsic Value | [1] | $ 517,000 | $ 945,000
Outstanding balance, Aggregate Intrinsic Value | [1] | 369,000 | $ 517,000
Exercisable, Aggregate Intrinsic Value | [1] | 468,000 |
Weighted average exercise price aggregate intrinsic value | [1] | $ 369,000 |
2000 Plan [Member] | Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Beginning Balance, Outstanding |  | 126,500 | 131,500
Grants |  |  |
Terminations |  | (5,000) | (5,000)
Exercises |  | (1,000) |
Ending balance, Outstanding |  | 120,500 | 126,500
Vested |  | 120,500 |
Vested and expected to vest |  | 120,500 |
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 |  | 124,500 | 106,500
Grants |  | 124,000 | 46,000
Terminations |  | (1,000) | (12,000)
Exercises |  |  | (16,000)
Ending balance, Outstanding |  | 247,500 | 124,500
Vested |  | 41,500 |
Vested and expected to vest |  | 247,500 |
Aggregate Intrinsic Value |  |  |
Reserved for future grants |  | 32,500 |
[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.

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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + 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)(1)(iv)(3) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + 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)(1)(i) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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