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Commitments and Contingencies (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Commitments and Contingencies |  |  |
Rent expense | $ 783,000 | $ 798,000 | $ 802,000
Future minimum lease payments, Operating leases |  |  |
2017 | 753,000 |  |
2018 | 781,000 |  |
2019 | 756,000 |  |
2020 | 514,000 |  |
Total minimum payments | 2,804,000 |  |
Future minimum lease payments, Purchase commitments |  |  |
2017 | 760,000 |  |
2018 | 344,000 |  |
Total minimum payments | 1,104,000 |  |
Future minimum lease payments, Total |  |  |
2017 | 1,513,000 |  |
2018 | 1,125,000 |  |
2019 | 756,000 |  |
2020 | 514,000 |  |
Total minimum payments | $ 3,908,000 |  |

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