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2004 Plan Outstanding Options Rollforward (Details) - USD ($)
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Shares    
Balance at January 1 2,022,353 1,891,058
Granted 344,450 316,600
Exercised (111,855) (91,333)
Canceled (93,863) (93,972)
Balance at December 31 2,161,085 2,022,353
Exercisable 1,638,288  
Unvested 522,797  
Weighted Average Exercise Price    
Balance at January 1 $ 2.15 $ 2.09
Granted 2.89 2.25
Exercised 1.60 1.71
Canceled 2.73 2.01
Balance at December 31 2.27 $ 2.15
Exercisable 2.23  
Unvested $ 2.40  
Outstanding, Remaining contractual term 5 years 6 months 29 days  
Outstanding, Intrinsic value $ 3,401,944  
Exercisable, Remaining contractual term 4 years 6 months 29 days  
Exercisable, Intrinsic value $ 2,651,676  
Unvested, Remaining contractual term 8 years 8 months 2 days  
Unvested, Intrinsic value $ 750,268