Income Taxes Effective Rate Reconciliation (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2016	Sep. 30, 2016	Jun. 30, 2016	Mar. 31, 2016	Dec. 31, 2015	Sep. 30, 2015	Jun. 30, 2015	Mar. 31, 2015	Dec. 31, 2016	Dec. 31, 2015	Dec. 31, 2014
Income Tax Disclosure [Abstract]
Statutory tax rate									35.00%	35.00%	35.00%
Federal tax at statutory rate of 35%									$ (1,372)	$ (4,615)	$ (5,390)
State taxes, net of federal benefit									(171)	(634)	(577)
U.S.-Foreign rate differential									(96)	480	100
Change in Valuation Allowance									939	3,072	4,115
Research and Development credits									233	175	357
Permanent items									657	1,566	1,560
Others									(8)	6	46
Total income tax expense	$ 102	$ 23	$ 51	$ 6	$ (14)	$ (10)	$ 61	$ 13	$ 182	$ 50	$ 211