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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2017
Share-based Compensation [Abstract]  
Schedule of weighted-average assumptions used to value options as of their grant date
The weighted-average assumptions used to value options as of their grant date were as follows:
 
Year Ended
December 31,
 
2017
 
2016
 
2015
Risk-free interest rate
1.98
%
 
1.43
%
 
1.55
%
Expected volatility
35.7
%
 
38.2
%
 
43.3
%
Expected life (in years)
4.22

 
4.18

 
4.17

Dividend yield
0
%
 
0
%
 
0
%
Schedule of share-based compensation, stock options, activity
The changes in outstanding stock options for the year ended December 31, 2017, 2016, and 2015 are as follows:
 
 
Number of Options
 
Weighted Average
Exercise Price
 
Weighted Average
Remaining
Contractual Life
(in Years)
 
Aggregate Intrinsic
Value
Outstanding at December 31, 2016
686

 
$
11.41

 
 
 
 
Granted
682

 
$
8.65

 
 
 
 
Exercised
(134
)
 
$
9.24

 
 
 
 
Expired, canceled or forfeited
(170
)
 
$
10.46

 
 
 
 
Outstanding at December 31, 2017
1,064

 
$
10.06

 
3.27
 
$
1,268

Exercisable at December 31, 2017
307

 
$
12.37

 
1.37
 
$
9

Options vested or expected to vest at December 31, 2017
1,064

 
$
10.06

 
3.27
 
$
1,268
Schedule of share-based compensation, activity
Restricted stock activity under the 2006 Plan and the 2016 Plan for 2017 is as follows:
 
 
Number of
Shares
 
Weighted-
average
grant date
fair value
Outstanding at December 31, 2016, unvested
644

 
$
10.58

Granted
271

 
8.83

Vested
(269
)
 
11.20

Forfeited
(42
)
 
9.57

Outstanding at December 31, 2017, unvested
604

 
$
9.59