Shareholders' Equity Equity Plan (Details)	12 Months Ended
	Dec. 31, 2016 USD ($) offering_period shares	Oct. 06, 2014 shares	Oct. 03, 2013 shares	Oct. 10, 2012 shares	Oct. 14, 2011 shares	Jan. 18, 2011 shares	Jun. 02, 2010 shares	Oct. 29, 2009 shares	May 09, 2009 shares
Stock Options [Member] | 2009 Equity Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, shares authorized (shares)		899,500	599,500	45,000	237,500	177,500	137,500	97,500	38,000
Stock Options [Member] | Non US Equity Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, shares authorized (shares)				57,000
ESPP [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, shares authorized (shares)	50,000
Number of Offering Periods, Employee Stock Purchase Plan | offering_period	2
Offering Periods, Employee Stock Purchase Plan, Term	6 months
Defined Benefit Plan, Assumptions Used Calculating Benefit Obligation, Discount Rate	15.00%
ESPP annual cap | $	$ 25,000
percentage of stock closing price	85.00%
percentage of ESPP closing price	85.00%
Shares, Issued	25,535
Shares, Outstanding	4,454
2015 Equity Plan [Member] | US Equity Plan [Member] | Stock Options [Member] | 2015 Equity Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares Expired	0
Common stock, shares authorized (shares)	440,000
Common Stock, Capital Shares Reserved for Future Issuance	226,932