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Income Taxes (Details 3) - USD ($)
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Credit carryforwards      
Credit carryforwards $ 6,724,000 $ 4,766,000 $ 3,558,000
Reduction of net operating losses as a result of previous ownership changes 1,100,000    
Reduction of research and development credits as a result of previous ownership changes 8,000    
Uncertain Tax Positions      
Unrecognized benefit - beginning of period 991,000 472,000  
Gross increases (decreases) - prior period tax positions 75,000 34,000  
Gross increases (decreases) - current period tax positions 765,000 485,000 472,000
Unrecognized benefit - end of period 1,831,000 991,000 472,000
Unrecognized tax benefits would affect the Company's effective tax rate, if recognized 0    
Interest or penalties accrued related to unrecognized tax benefits 0 0 0
Federal | Research and development.      
Credit carryforwards      
Credit carryforwards 3,657,000 2,437,000 1,766,000
State | Research and development.      
Credit carryforwards      
Credit carryforwards 3,045,000 2,305,000 1,767,000
Foreign | Research and development.      
Credit carryforwards      
Credit carryforwards $ 22,000 $ 24,000 $ 25,000