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Stock-Based Compensation - Summary of Option and RSU Activity (Details) - $ / shares
 3 Months Ended 6 Months Ended
Jun. 30, 2017
Mar. 31, 2017
Jun. 30, 2016
Jun. 30, 2016
Dec. 31, 2016
Shares Available for Grant          
Options cancelled and returned to Plan (in shares) 172,000        
Number of Shares          
Options granted (in shares)     0 0  
Options | Mosy Plans [Member]          
Shares Available for Grant          
Balance at the beginning of the year (in shares) 183,000 114,000      
Restricted stock units cancelled and returned to Plan (in shares) 37,000 5,000      
Options granted (in shares)   (1,000)      
Options cancelled and returned to Plan (in shares)   15,000      
Balance at the end of the year (in shares) 392,000 183,000      
Number of Shares          
Balance at the beginning of the period (in shares) 508,000 522,000      
Options granted (in shares)   1,000      
Options cancelled and returned to Plan (in shares) (172,000) (15,000)      
Balance at the end of the period (in shares) 336,000 508,000      
Weighted Average Exercise Prices          
Weighted-average exercise price (in dollars per share) $ 16.04 $ 14.06     $ 13.88
Options granted (in dollars per share) $ 10.20 2.36      
Options cancelled and returned to Plan (in dollars per share)   $ 6.94      
Options | Equity Incentive Plan2010 [Member]          
Shares Available for Grant          
Additional shares authorized   50,000