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Summary of Significant Accounting Policies - Antidilutive Securities (Details) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Anti-dilutive securities      
Anti-dilutive securities excluded from computation of earnings per share 1,099 5,796 27,427
Convertible Preferred Stock      
Anti-dilutive securities      
Anti-dilutive securities excluded from computation of earnings per share     21,642
Preferred Stock Warrants      
Anti-dilutive securities      
Anti-dilutive securities excluded from computation of earnings per share     128
Stock options      
Anti-dilutive securities      
Anti-dilutive securities excluded from computation of earnings per share 1,099 5,701 5,657
ESPP      
Anti-dilutive securities      
Anti-dilutive securities excluded from computation of earnings per share   89  
Common Stock Warrants      
Anti-dilutive securities      
Anti-dilutive securities excluded from computation of earnings per share   6