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Stockholders' Equity - Employee Stock Purchase Plan (Details) - shares
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Class of Stock      
Maximum percentage of total combined voting power or value of the stock of the Company after the grant 5.00%    
Maximum percentage of employee defined annualized base pay that may be used to purchase stock under employee stock purchase plan 15.00%    
Employee Stock Purchase Plan      
Class of Stock      
Percentage of fair market value of common stock for the ESPP option price 85.00%    
Minimum percentage in payroll of deduction base salary to acquire shares of common stock 1.00%    
Maximum percentage in payroll of deduction base salary to acquire shares of common stock 10.00%    
Percentage of market value of common stock on the commencement of offering period 85.00%    
Common stock share issued 121,460 27,951 13,844
Employee Stock Purchase Plan | Maximum      
Class of Stock      
Common stock shares authorized for issuance under stock purchase plan 500,000