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Stockholders' Equity (Details Textual) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Sep. 30, 2016
Mar. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
ASC 2016-09 Impact: Amount of deferred tax assets that had not been previously recognized due to the recognition of excess tax benefits $ 696 $ 1,231      
Stock-Based Compensation (Textual) [Abstract]          
Stock options, Outstanding, Aggregate Intrinsic Value 1,268 681 $ 123    
Stock options, Exercisable, Aggregate Intrinsic Value $ 9 $ 382 $ 122    
Stock options, Exercisable, Number of Options (in shares) 307 379 687    
Stock options, Exercisable, Weighted Average Exercise Price (in dollars per share) $ 12.37 $ 11.39 $ 11.60    
Stock options, Exercisable, Weighted Average Remaining Contractual Life 1 year 4 months 13 days 1 year 6 months 2 years    
Stock options, Outstanding, Weighted Average Remaining Contractual Life 3 years 3 months 7 days 2 years 2 months 23 days 2 years 14 days    
Allocated Share-based Compensation Expense $ 3,518 $ 3,651 $ 3,734    
Stock options          
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 1,715        
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) $ 2.74 $ 2.77 $ 4.39    
Stock options, total intrinsic value of options exercised $ 149 $ 484 $ 50    
Unrecognized compensation expense $ 1,789        
Weighted-average period of recognition (in years) 2 years 11 months 26 days        
Allocated Share-based Compensation Expense $ 707 702 1,229    
Cash received under stock option plans for exercises 1,236 2,438 90    
Restricted stock          
Stock-Based Compensation (Textual) [Abstract]          
Unrecognized compensation expense $ 3,863        
Weighted-average period of recognition (in years) 2 years 1 month 24 days        
Allocated Share-based Compensation Expense $ 2,760 $ 2,938 $ 2,422    
Granted (in shares) 271 424 203    
Restricted stock, Granted, Weighted-average grant date fair value (in dollars per share) $ 8.83 $ 8.68 $ 12.43    
Employee stock purchase plan          
Stock-Based Compensation (Textual) [Abstract]          
Number of shares available for future grants 954        
Allocated Share-based Compensation Expense $ 50 $ 11 $ 58    
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period 46 18 28    
Employee stock purchase plan, discount percentage attributable to compensation expense 15.00%        
Cash received under the employee stock purchase plan $ 358 $ 146 $ 291    
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%        
ESPP Plan [Member] | Employee stock purchase plan          
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%
Accounting Standards Update 2016-09 [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
ASC 2016-09 Impact: Amount of deferred tax assets that had not been previously recognized due to the recognition of excess tax benefits $ 1,571        
New Accounting Pronouncement or Change in Accounting Principle, Effect of Adoption, Quantification 1,571        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost 215        
Accounting Standards Update 2016-09 [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost 3,449        
Operating Expense [Member] | Accounting Standards Update 2016-09 [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
New Accounting Pronouncement or Change in Accounting Principle, Effect of Adoption, Quantification $ 19