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Shareholders' Equity Equity Plan (Details) | 12 Months Ended |  |  |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Dec. 31, 2016 USD ($) offering_period shares | Oct. 06, 2014 shares | Oct. 03, 2013 shares | Oct. 10, 2012 shares | Oct. 14, 2011 shares | Jan. 18, 2011 shares | Jun. 02, 2010 shares | Oct. 29, 2009 shares | May 09, 2009 shares
Stock Options [Member] | 2009 Equity Plan [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock, shares authorized (shares) |  | 899,500 | 599,500 | 45,000 | 237,500 | 177,500 | 137,500 | 97,500 | 38,000
Stock Options [Member] | Non US Equity Plan [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock, shares authorized (shares) |  |  |  | 57,000 |  |  |  |  |
ESPP [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock, shares authorized (shares) | 50,000 |  |  |  |  |  |  |  |
Number of Offering Periods, Employee Stock Purchase Plan | offering_period | 2 |  |  |  |  |  |  |  |
Offering Periods, Employee Stock Purchase Plan, Term | 6 months |  |  |  |  |  |  |  |
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 | 25,535 |  |  |  |  |  |  |  |
Shares, Outstanding | 4,454 |  |  |  |  |  |  |  |
2015 Equity Plan [Member] | US Equity Plan [Member] | Stock Options [Member] | 2015 Equity Plan [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Shares Expired | 0 |  |  |  |  |  |  |  |
Common stock, shares authorized (shares) | 440,000 |  |  |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance | 226,932 |  |  |  |  |  |  |  |

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