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Stockholders' Equity - Summary of Warrant Activity (Details) | 12 Months Ended
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Dec. 31, 2015 $ / shares shares | Dec. 31, 2014 $ / shares shares | Dec. 31, 2013 $ / shares shares
Warrants Outstanding |  |  |
Beginning balance (in shares) | shares | 969,549 | 1,107,549 | 1,305,638
Warrants issued (in shares) | shares |  | 147,000 | 2,549
Warrants expired (in shares) | shares | (205,000) | (285,000) | (200,638)
Warrants exercised (in shares) | shares | (638,189) |  |
Warrants canceled/forfeited (in shares) | shares | (112,110) |  |
Ending balance (in shares) | shares | 14,250 | 969,549 | 1,107,549
Weighted Average Exercise Price During Period |  |  |
Beginning balance (in dollars per share) | $ / shares | 4.61 | 4.41 | 7.60
Warrants issued (in dollars per share) | $ / shares |  | 4.65 | 3.49
Warrants expired (in dollars per share) | $ / shares | 4.20 | 3.87 | 19.70
Warrants exercised (in dollars per share) | $ / shares | 4.58 |  |
Warrants canceled/forfeited (in dollars per share) | $ / shares | 5.54 |  |
Ending balance (in dollars per share) | $ / shares | 4.30 | 4.61 | 4.41

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- Definition Number of non-option equity instruments exercised by participants. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(2) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Net number of non-option equity instruments granted to participants. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(1) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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