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Stockholders' Equity (Details 2) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Number of Options      
Stock options outstanding at beginning of period 2,351,941    
Granted 933,900 606,750 473,750
Exercised (386,001) (145,979) (134,668)
Forfeited or expired (157,309)    
Stock options outstanding 2,742,531 2,351,941  
Vested and expected to vest at end of period 2,637,620    
Exercisable at end of period 1,719,255    
Weighted Average Exercise Price per Share      
Outstanding at beginning of period $ 8.70    
Granted 16.29    
Exercised 7.91    
Forfeited or expired 12.76    
Outstanding at end of period 11.15 $ 8.70  
Vested and expected to vest at end of period 10.97    
Exercisable at end of period $ 8.49    
Weighted Average Remaining Contractual Term      
Outstanding at beginning of period 4 years 2 months 12 days    
Outstanding at end of period 4 years 3 months 18 days    
Vested and expected to vest at end of period 4 years 2 months 12 days    
Exercisable at end of period 3 years 2 months 12 days    
Aggregate Intrinsic Value      
Outstanding at end of period $ 10,215    
Vested and expected to vest at end of period 10,177    
Exercisable at end of period $ 9,876