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Stockholders' Equity (Details Textual) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2016
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Mar. 31, 2016
Stock-Based Compensation (Textual) [Abstract]          
Common stock, shares reserved for issuance   1,690      
Stock options, Outstanding, Aggregate Intrinsic Value   $ 681      
Stock options, Exercisable, Aggregate Intrinsic Value   $ 382      
Stock options, Exercisable, Number of Options (in shares)   379      
Stock options, Exercisable, Weighted Average Exercise Price (in dollars per share)   $ 11.39      
Stock options, Exercisable, Weighted Average Remaining Contractual Life   1 year 6 months      
Stock options, Outstanding, Weighted Average Remaining Contractual Life   2 years 2 months 23 days      
Allocated Share-based Compensation Expense   $ 3,651 $ 3,734 $ 3,771  
Stock options          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Forfeiture Rate   5.00% 5.00% 5.00%  
Stock-Based Compensation (Textual) [Abstract]          
Stock award, vesting period   4 years      
Stock award, exercise period   5 years      
Awards other than options, decrease in number of shares reserved for issuance   0      
Common stock, shares reserved for issuance   12,415      
Number of shares available for future grants   2,895      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate   0.00% 0.00% 0.00%  
Weighted-average fair value per share, options granted (in dollars per share)   $ 2.77 $ 4.39 $ 4.71  
Stock options, total intrinsic value of options exercised   $ 484 $ 50 $ 232  
Stock options, Outstanding, Aggregate Intrinsic Value     123 1,814  
Stock options, Exercisable, Aggregate Intrinsic Value     $ 122 $ 761  
Stock options, Exercisable, Number of Options (in shares)     687 490  
Stock options, Exercisable, Weighted Average Exercise Price (in dollars per share)     $ 11.60 $ 11.87  
Stock options, Exercisable, Weighted Average Remaining Contractual Life     2 years 1 year 9 months 3 days  
Stock options, Outstanding, Weighted Average Remaining Contractual Life     2 years 14 days 2 years 8 months 19 days  
Unrecognized compensation expense   $ 790      
Weighted-average period of recognition (in years)   1 year 11 months 8 days      
Allocated Share-based Compensation Expense   $ 702 $ 1,229 $ 1,368  
Cash received under stock option plans for exercises   2,438 90 471  
Restricted stock          
Stock-Based Compensation (Textual) [Abstract]          
Unrecognized compensation expense   $ 4,344      
Weighted-average period of recognition (in years)   2 years 3 months 25 days      
Allocated Share-based Compensation Expense   $ 2,938 $ 2,422 $ 2,317  
Granted (in shares)   424 203 265  
Restricted stock, Granted, Weighted-average grant date fair value (in dollars per share)   $ 8.68 $ 12.43 $ 13.57  
Employee stock purchase plan          
Stock-Based Compensation (Textual) [Abstract]          
Number of shares available for future grants   1,000      
Allocated Share-based Compensation Expense   $ 11 $ 58 $ 55  
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period   18 28 12  
Employee stock purchase plan, discount percentage attributable to compensation expense   15.00%      
Cash received under the employee stock purchase plan   $ 146 $ 291 $ 138  
Employee stock purchase plan | Maximum          
Stock-Based Compensation (Textual) [Abstract]          
Employee election percentage of pre-tax compensation withheld to purchase Company's common stock shares   6.00%      
2016 Equity Plan [Member]          
Stock-Based Compensation (Textual) [Abstract]          
Employee stock purchase plan, number of shares authorized   3,000      
ESPP Plan [Member] | Employee stock purchase plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized 1,000        
Stock-Based Compensation (Textual) [Abstract]          
Employee stock purchase plan, number of shares authorized 1,650        
Percentage of Company's common stock share price         85.00%