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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
Mar. 31, 2018
Dec. 31, 2017
Preferred stock, convertible, shares authorized (in shares) 5,000,000  
Common stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Common stock, shares authorized (in shares) 150,000,000 150,000,000
Common stock, shares issued (in shares) 47,318,000 45,161,000
Common stock, shares outstanding (in shares) 46,485,000 44,510,000
Treasury stock, shares (in shares) 833,000 651,000
Series A-2 Preferred Stock    
Preferred stock, convertible, par value (in dollars per share) $ 0.0001 $ 0.0001
Preferred stock, convertible, stated value $ 7,500 $ 7,500
Preferred stock, convertible, shares authorized (in shares) 7,500 7,500
Preferred stock, convertible, shares issued (in shares) 32 32
Preferred stock, convertible, shares outstanding (in shares) 32 32
Preferred stock, convertible, liquidation value $ 237,000 $ 237,000
Series B Preferred Stock    
Preferred stock, convertible, par value (in dollars per share) $ 0.0001 $ 0.0001
Preferred stock, convertible, stated value $ 1,000 $ 1,000
Preferred stock, convertible, shares authorized (in shares) 2,800 2,800
Preferred stock, convertible, shares issued (in shares) 375 450
Preferred stock, convertible, shares outstanding (in shares) 375 450
Preferred stock, convertible, liquidation value $ 375,000 $ 375,000
Series C Preferred Stock    
Preferred stock, convertible, par value (in dollars per share) $ 0.0001 $ 0.0001
Preferred stock, convertible, stated value $ 1,000 $ 1,000
Preferred stock, convertible, shares authorized (in shares) 1,750 1,750
Preferred stock, convertible, shares issued (in shares) 1,275 0
Preferred stock, convertible, shares outstanding (in shares) 1,275 0
Preferred stock, convertible, liquidation value $ 1,275,000 $ 0