Consolidated Balance Sheets (Parenthetical) - $ / shares	Dec. 31, 2016	Dec. 31, 2015
Preferred stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Preferred stock, shares authorized	5,000,000	5,000,000
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized	100,000,000	100,000,000
Common stock, shares issued	27,895,000	27,634,000
Common stock, shares outstanding	25,432,000	25,234,000
Treasury stock, shares	2,463,000	2,400,000
Series A
Preferred stock, shares issued	127	0
Preferred stock, shares outstanding	127	0
Series B
Preferred stock, shares issued	569	0
Preferred stock, shares outstanding	569	0