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Stockholders' Equity (Tables)
12 Months Ended
Dec. 31, 2016
Stockholders' Equity Note [Abstract]  
Summary of Warrant Activity and Changes in Warrants Outstanding
A summary of warrant activity and changes in warrants outstanding, including both liability and equity classifications, is presented below:
 
 
Number of
Warrants
 
Weighted-Average
Exercise Price
Per Share
 
Weighted-Average Remaining Contractual Term
Balance outstanding, December 31, 2013
6,233,483

 
$
3.87

 
4.5
Granted
85,470

 
$
3.51

 
 
Exercised
(36,666
)
 
$
3.00

 
 
Expired
(16,667
)
 
$
10.80

 
 
Balance outstanding, December 31, 2014
6,265,620

 
$
3.85

 
3.6
Exercised
(732,378
)
 
$
3.77

 
 
Balance outstanding, December 31, 2015
5,533,242

 
$
3.86

 
2.5
Granted
30,992

 
$
4.84

 
 
Exercised
(8,333
)
 
$
3.00

 
 
Expired
(50,000
)
 
$
8.00

 
 
Balance outstanding, December 31, 2016
5,505,901

 
$
3.83

 
1.6