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Stock-based Compensation - Textual (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Mar. 31, 2010
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total shares remaining available for issuance (shares)   7,844,998    
Share-based compensation   $ 5,673 $ 5,126 $ 4,620
Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percent of voting interests 10.00%      
Purchase price of common stock when voting percent is above minimum threshold 110.00%      
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period 10 years      
Vesting period of units granted 4 years      
Weighted average grant date fair value (usd per share)   $ 2.32 $ 2.09 $ 1.20
Aggregate intrinsic value of options exercised   $ 600 $ 400 $ 57
Unrecognized compensation cost, options   $ 2,100    
Weighted-average remaining amortization period (years)   2 years 8 months 9 days    
Non-Statutory Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Option price as a percent of common stock 85.00%      
RSAs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Weighted-average remaining amortization period (years)   7 months 24 days    
Weighted average grant date fair value (usd per share)   $ 4.21 $ 4.10 $ 1.64
Equity instruments other than options, aggregate intrinsic value, vested   $ 1,800 $ 2,300 $ 700
Unrecognized compensation cost, awards other than options   $ 400    
RSUs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Weighted-average remaining amortization period (years)   1 year 6 months 11 days    
Weighted average grant date fair value (usd per share)   $ 4.10 $ 3.65 $ 2.14
Equity instruments other than options, aggregate intrinsic value, vested   $ 1,000 $ 2,900 $ 1,900
Unrecognized compensation cost, awards other than options   $ 1,100    
PSUs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period of units granted 2 years      
Weighted-average remaining amortization period (years)   6 months 4 days    
Weighted average grant date fair value (usd per share)   $ 4.10 $ 3.45 $ 2.00
Equity instruments other than options, aggregate intrinsic value, vested   $ 1,800 $ 800 $ 0
Unrecognized compensation cost, awards other than options   $ 1,100    
2010 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares initially available for future issuance (shares) 1,100,000      
Reduction of share reserve for each share granted (shares) 1      
Minimum | RSAs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period of units granted 1 year      
Minimum | RSUs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period of units granted 3 years      
Maximum | RSAs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period of units granted 3 years      
Maximum | RSUs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period of units granted 4 years