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Shareholders' Equity - Schedule of Warrant Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Equity [Abstract]      
Number of Shares Underling Warrants and Non- Employee Options Granted, Beginning 790,363 1,353,620 1,379,620
Number of Shares Underling Warrants and Non- Employee Options Granted, Exercised (137,174) (50,000)
Number of Shares Underling Warrants and Non- Employee Options Granted, Issued (426,083)
Number of Shares Underling Warrants and Non- Employee Options Granted, Terminated 24,000
Number of Shares Underling Warrants and Non- Employee Options Granted, Ending 790,363 790,363 1,353,620
Weighted Average Exercise Price, Beginning $ 5.56 $ 5.64 $ 5.58
Weighted Average Exercise Price, Exercised 4.73 4.45
Weighted Average Exercise Price, Issued 6.09
Weighted Average Exercise Price, Terminated 6.58
Weighted Average Exercise Price, Ending $ 5.56 $ 5.56 $ 5.64