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Stockholders' Equity (Details) - Equity Incentive Plan [Member] - shares
 12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Reserved but unissued shares under the Consultant Plan at January 1 242,764 249,736
Increases in the number of authorized shares under the Plan 315,225 85,705
Grants of stock options (409,200) (141,880)
Stock option forfeitures 116,780 24,688
Exercise of stock options 212,837 39,140
Stock grants (23,034) (14,625)
Stock grant forfeitures 0 0
Reserved but unissued shares under the Consultant Plan at December 31 455,372 242,764