Annual report pursuant to Section 13 and 15(d)

Income Taxes Narrative (Details)

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Income Taxes Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Valuation Allowance [Line Items]    
Operating loss carryforwards $ 1,700,000  
Loss carryforward of foreign subsidiary and joint venture 1,000 $ 382,000
Federal and state research and development credit carryforwards 3,000,000  
Undistributed foreign earnings 1,100,000  
Unrecognized tax benefit that would affect the effective tax rate 6,000  
Interest and penalties related to unrecognized tax benefits accrued 3,000 4,000
Interest and penalties recognized related to unrecognized tax expense (benefits) (1,000) $ (3,000)
Foreign Subsidiaries    
Valuation Allowance [Line Items]    
Cash and cash equivalent and marketable securities held by foreign subsidiaries 1,400,000  
Domestic Tax Authority    
Valuation Allowance [Line Items]    
Operating loss carryforwards 78,100,000  
State and Local Jurisdiction    
Valuation Allowance [Line Items]    
Operating loss carryforwards $ 63,900,000