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Stockholders' Equity - Summary of Warrant Activity (Details)
 12 Months Ended
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