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Shareholders' Equity - Option Plans (Details) - USD ($)
 12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Plan Shares Available for Grant    
Balance at the beginning of the period (in shares) 307,767 95,968
Shares reserved 200,000 650,000
Balance at the end of the period (in shares) 477,534 307,767
Stock Options    
Plan Shares Available for Grant    
Stock options granted (in shares) (200,000) (426,000)
Plan Options Outstanding    
Balance at the beginning of the period (in shares) 1,255,077 1,251,442
Stock options granted (in shares) 200,000 426,000
Stock options exercised (in shares) (113,837) (155,407)
Balance at the end of the period (in shares) 895,161 1,255,077
Weighted Average Exercise Price Per Share    
Balance at the beginning of the period (in dollars per share) $ 2.86 $ 2.72
Stock options granted (in dollars per share) 2.82 3.02
Stock options exercised (in dollars per share) 1.90 1.94
Balance at the end of the period (in dollars per share) $ 2.73 $ 2.86
Aggregate Intrinsic Value, Stock options exercised (in dollars) $ 105,012 $ 217,694
Restricted stock units    
Plan Shares Available for Grant    
Restricted stock units granted (in shares) (99,000) (25,000)
2013 Plan | Board of Directors    
Plan Shares Available for Grant    
Stock awards granted (in shares) (37,233) (29,701)
2013 Plan | Stock Options    
Plan Shares Available for Grant    
Cancelled or forfeited (in shares) 279,000 42,500
Plan Options Outstanding    
Cancelled or forfeited (in shares) (279,000) (42,500)
Weighted Average Exercise Price Per Share    
Cancelled (in dollars per share) $ 2.87 $ 3.03
2013 Plan | Restricted stock units    
Plan Shares Available for Grant    
Restricted stock units granted (in shares) (99,000) (25,000)
Cancelled or forfeited (in shares) 27,000  
Weighted Average Exercise Price Per Share    
Cancelled, restricted stock units (in dollars per share) $ 2.89  
2003 Plan | Stock Options    
Plan Options Outstanding    
Cancelled or forfeited (in shares) (167,079) (224,458)
Weighted Average Exercise Price Per Share    
Cancelled (in dollars per share) $ 4.13 $ 2.95