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Stockholders' Equity (Details 2) - $ / shares
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Class of Stock [Line Items]      
Granted - Options to Purchase Common Stock 20,000 26,000  
Employee Stock Option [Member]      
Class of Stock [Line Items]      
Reserved but unissued shares under the Plan, beginning of year 723,400 643,817  
Granted - Options to Purchase Common Stock 171,900 409,200  
Exercised - Options to Purchase Common Stock 0 (212,837)  
Forfeited/Expired/Exchanged - Options to Purchase Common Stock (12,485) (116,780)  
Reserved but unissued shares under the Plan, end of year 882,815 723,400 643,817
Exercisable - Options to Purchase Common Stock 547,532 257,391  
Outstanding - Weighted Average Exercise Price $ 5.18 $ 4.46  
Granted - Weighted Average Exercise Price 4.22 5.39  
Exercised - Weighted Average Exercise Price 0 2.51  
Forfeited/Expired/Exchanged - Weighted Average Exercise Price 6.17 6.86  
Outstanding - Weighted Average Exercise Price 4.98 5.18 $ 4.46
Exercisable - Weighted Average Exercise Price $ 4.91 $ 4.05  
Outstanding - Weighted Average Remaining Contractual Life (in years) 7 years 6 months 4 days 8 years 1 month 6 days 5 years 8 months 1 day
Granted - Weighted Average Remaining Contractual Life (in years) 9 years 3 months 4 days 9 years 2 months 19 days  
Exercised - Weighted Average Remaining Contractual Life (in years) 0 years 0 years  
Forfeited/Expired/Exchanged - Weighted Average Remaining Contractual Life (in years) 0 years 0 years  
Exercisable - Weighted Average Remaining Contractual Life (in years) 6 years 10 months 6 days 6 years 1 month 13 days