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Stockholders' Equity (Details) - USD ($) | 9 Months Ended | 12 Months Ended
--- | --- | ---
Sep. 30, 2017 | Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract] |  |  |
Weighted Average Exercise Price, Outstanding, Beginning |  | $ 3.89 | $ 3.57
Weighted Average Exercise Price, Grants |  | 5.85 | 6.98
Weighted Average Exercise Price, Terminations |  | 5.58 | 6.16
Weighted Average Exercise Price, Exercises |  | 4.13 | 5.59
Weighted Average Exercise Price, Outstanding, Ending |  | 4.54 | $ 3.89
Weighted average exercise price, Vested |  | 2.64 |
Weighted average exercise price, Vested and expected to vest |  | $ 4.54 |
Aggregate Intrinsic Value, Outstanding, Beginning | [1] | $ 517,000 | $ 945,000
Aggregate Intrinsic Value, Outstanding, Ending | [1] | 718,000 | $ 517,000
Aggregate Intrinsic Value, Vested | [1] | 621,000 |
Aggregate Intrinsic Value, Vested and expected to vest | [1] | $ 718,000 |
2000 Plan [Member] | Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract] |  |  |
Balance, Outstanding, Beginning |  | 126,500 | 131,500
Grants |  |  |
Terminations |  | (5,000) | (5,000)
Exercises |  | (3,000) |
Balance, Outstanding, Ending |  | 118,500 | 126,500
Vested |  | 118,500 |
Vested and expected to vest |  | 118,500 |
Reserved for future grants |  |  |
2010 Plan [Member] | Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract] |  |  |
Balance, Outstanding, Beginning |  | 124,500 | 106,500
Grants |  | 138,000 | 46,000
Terminations |  | (13,000) | (12,000)
Exercises |  | (1,000) | (16,000)
Balance, Outstanding, Ending |  | 248,500 | 124,500
Vested |  | 42,500 |
Vested and expected to vest |  | 248,500 |
Reserved for future grants |  | 30,500 |
2017 Plan [Member] | Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract] |  |  |
Balance, Outstanding, Beginning |  |  |
Grants |  |  |
Terminations |  |  |
Exercises |  |  |
Balance, Outstanding, Ending |  |  |
Vested |  |  |
Vested and expected to vest |  |  |
Reserved for future grants |  | 300,000 |
[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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