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Stockholders' Equity (Details 2) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Number of Options      
Stock options outstanding at beginning of period 1,971,269    
Granted 606,750    
Exercised (145,979) (134,668) (54,337)
Forfeited or expired (80,099)    
Stock options outstanding 2,351,941 1,971,269  
Vested and expected to vest at end of period 2,262,633    
Exercisable at end of period 1,539,979    
Weighted Average Exercise Price per Share      
Outstanding at beginning of period $ 7.73    
Granted (in dollars per share) 12.45    
Exercised (in dollars per share) 8.19 $ 4.18 $ 3.92
Forfeited or expired (in dollars per share) 14.43    
Outstanding at end of period 8.70 $ 7.73  
Vested and expected to vest at end of period 8.60    
Exercisable at end of period $ 6.65    
Weighted Average Remaining Contractual Term      
Outstanding at beginning of period 4 years 6 months    
Outstanding at end of period 4 years 2 months 12 days    
Vested and expected to vest at end of period 4 years 2 months 12 days    
Exercisable at end of period 3 years 3 months 18 days    
Aggregate Intrinsic Value      
Outstanding at end of period $ 32,616    
Vested and expected to vest at end of period 31,597    
Exercisable at end of period $ 24,510