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Borrowings - Term Debt (Details)
Dec. 30, 2015
USD ($)
installment
Aug. 10, 2012
USD ($)
Mar. 31, 2017
USD ($)
Dec. 31, 2016
USD ($)
Term Loan        
Term loans     $ 2,926,000 $ 3,098,000
Obligations under capital lease     1,876,000 3,269,000
Master Lease Agreement        
Obligations under capital lease     1,876,000 3,269,000
BMO Harris Equipment Finance Company | Master Lease Agreement        
Term Loan        
Obligations under capital lease   $ 21,200,000 1,900,000 3,300,000
Master Lease Agreement        
Master lease facility, amount   25,000,000    
Obligations under capital lease   $ 21,200,000 1,900,000 3,300,000
Interest, fixed rate (as a percent)   3.39%    
Term of capital lease   48 months    
Ending purchase price of underlying assets   $ 1    
H-P Loan | Note and Security Agreement        
Term Loan        
Term debt $ 3,600,000      
Term of Term Loan Agreement 5 years      
Term loans     $ 2,900,000 $ 3,100,000
Master Lease Agreement        
Number of quarterly installments | installment 20      
Repayment of principal in quarterly installments $ 195,000      
Interest Rate 2.95%