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Shareholders' Equity Equity Plan (Details) - USD ($)
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Oct. 10, 2012
Oct. 14, 2011
Jan. 18, 2011
Jun. 02, 2010
Oct. 29, 2009
May. 09, 2009
Stock Options [Member] | 2009 Equity Plan [Member]                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Common stock, shares authorized (shares) 8,995,000 5,995,000 450,000 2,375,000 1,775,000 1,375,000 975,000 380,000
Stock Options [Member] | Non US Equity Plan [Member]                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Common stock, shares authorized (shares)     570,000          
ESPP [Member]                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Common stock, shares authorized (shares) 500,000              
Defined Benefit Plan, Assumptions Used Calculating Benefit Obligation, Discount Rate 15.00%              
ESPP annual cap $ 25,000              
percentage of stock closing price 85.00%              
percentage of ESPP closing price 85.00%              
Shares, Issued 133,939              
Shares, Outstanding 300,620              
2015 Equity Plan [Member] [Member] | US Equity Plan [Member] | Stock Options [Member] | 2015 Equity Plan [Member] [Member]                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Shares Expired 0              
Common stock, shares authorized (shares) 4,400,000