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Stockholders' Equity - Summary of Warrant Activity (Details) | 12 Months Ended
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Dec. 31, 2016 $ / shares shares | Dec. 31, 2015 $ / shares shares | Dec. 31, 2014 $ / shares shares
Warrants Outstanding |  |  |
Beginning balance (in shares) | shares | 14,250 | 969,549 | 1,107,549
Warrants issued (in shares) | shares |  |  | 147,000
Warrants exercised (in shares) | shares |  | (638,189) |
Warrants expired (in shares) | shares |  | (205,000) | (285,000)
Warrants canceled/forfeited (in shares) | shares | (7,500) | (112,110) |
Ending balance (in shares) | shares | 6,750 | 14,250 | 969,549
Weighted Average Exercise Price During Period |  |  |
Beginning balance (in dollars per share) | $ / shares | 4.30 | 4.61 | 4.41
Warrants issued (in dollars per share) | $ / shares |  |  | 4.65
Warrants exercised (in dollars per share) | $ / shares |  | 4.58 |
Warrants expired (in dollars per share) | $ / shares |  | 4.20 | 3.87
Warrants canceled/forfeited (in dollars per share) | $ / shares | 4.30 | 5.54 |
Ending balance (in dollars per share) | $ / shares | 4.30 | 4.30 | 4.61
Warrants exercisable (in shares) | shares | 0 |  |
Warrants exercisable (in dollars per share) | $ / shares | $ 0.00 |  |

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