CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares |
Sep. 30, 2016 |
Dec. 31, 2015 |
|---|---|---|
| Statement of Financial Position [Abstract] | ||
| Cumulative participating convertible preferred stock, dividend rate percentage | 7.00% | 7.00% |
| Preferred stock, par value | $ 0.001 | $ 0.001 |
| Preferred stock, shares authorized | 10,000,000 | 10,000,000 |
| Preferred stock, shares issued | 0 | 0 |
| Preferred stock, shares outstanding | 0 | 0 |
| Common stock, par value | $ 0.001 | $ 0.001 |
| Common stock, shares authorized | 190,000,000 | 190,000,000 |
| Common stock, shares issued | 19,650,584 | 19,105,251 |
| Common stock, shares outstanding | 17,654,278 | 17,458,945 |