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Stock-based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Oct. 31, 2017
Mar. 31, 2010
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Total shares remaining available for issuance (shares)     6,759,316    
Vesting period of units granted     6 months    
Share-based compensation     $ 7,091 $ 5,673 $ 5,126
Granted (shares)     856,000    
Nonemployee services transaction, quantity of securities issued (shares) 11,100        
Nonemployee services transaction, value of securities issued $ 48        
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%      
Expiration period   10 years      
Vesting period of units granted   4 years      
Weighted average grant date fair value (usd per share)     $ 2.51 $ 2.32 $ 2.09
Aggregate intrinsic value of options exercised     $ 200 $ 600 $ 400
Unrecognized compensation cost, options     $ 2,700    
Weighted-average remaining amortization period (years)     2 years 7 months 6 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)     6 months    
Weighted average grant date fair value (usd per share)     $ 4.75 $ 4.21 $ 4.10
Equity instruments other than options, aggregate intrinsic value, vested     $ 1,000 $ 1,800 $ 2,300
Unrecognized compensation cost, awards other than options     $ 300    
Granted (shares)     143,000    
RSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Weighted-average remaining amortization period (years)     1 year 6 months    
Weighted average grant date fair value (usd per share)     $ 4.22 $ 4.10 $ 3.65
Equity instruments other than options, aggregate intrinsic value, vested     $ 1,300 $ 1,000 $ 2,900
Unrecognized compensation cost, awards other than options     $ 1,100    
Granted (shares)     275,000    
PSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Weighted-average remaining amortization period (years)     4 months 24 days    
Weighted average grant date fair value (usd per share)     $ 4.25 $ 4.10 $ 3.45
Equity instruments other than options, aggregate intrinsic value, vested     $ 2,700 $ 1,800 $ 800
Unrecognized compensation cost, awards other than options     $ 400    
Granted (shares)     276,000    
Performance shares          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Weighted-average remaining amortization period (years)     1 year 2 months 12 days    
Weighted average grant date fair value (usd per share)     $ 2.54    
Equity instruments other than options, aggregate intrinsic value, vested         $ 0
Unrecognized compensation cost, awards other than options     $ 1,100    
Granted (shares)     1,720,000    
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      
2016 PSU Plan | Performance shares          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Estimated performance goal achievement rate       142.30% 92.80%
Granted (shares)       0 0
Non-Employee          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Granted (shares)       0 0
Tranche One | Stock options          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Award vesting rights percentage   25.00%      
Tranche One | RSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period of units granted   3 years      
Tranche Two | Stock options          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Award vesting rights percentage   75.00%      
Tranche Two | RSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period of units granted   4 years      
Award vesting rights percentage   25.00%      
Tranche Six | 2016 PSU Plan | Performance shares          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Future vesting rights percentage     50.00%    
Tranche Six | 2015 PSU Plan | Performance shares          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Future vesting rights percentage     50.00%    
Tranche Six | 2017 PSU and PBO Plan | PBOs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Estimated performance goal achievement rate     134.20%