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Debt (Details 2) - Hercules Notes - USD ($)
$ in Thousands
12 Months Ended
Sep. 30, 2014
Dec. 31, 2015
Debt    
Term charge 3.00% 3.00%
Future principal payments    
2016   $ 3,693
2017   5,940
2018   5,367
Total $ 2,000 $ 15,000