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Commitments and Contingencies (Details) - USD ($)
 12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Commitments and Contingencies      
Rent expense $ 798,000 $ 802,000 $ 822,000
Future minimum lease payments, Operating leases      
2016 796,000    
2017 754,000    
2018 734,000    
2019 756,000    
2020 513,000    
Total minimum payments 3,553,000    
Future minimum lease payments, Purchase commitments      
2016 1,305,000    
2017 408,000    
2018 378,000    
Total minimum payments 2,091,000    
Future minimum lease payments, Total      
2016 2,101,000    
2017 1,162,000    
2018 1,112,000    
2019 756,000    
2020 513,000    
Total minimum payments $ 5,644,000