CONSOLIDATED STATEMENTS OF CONVERTIBLE PREFERRED STOCK AND STOCKHOLDERS' EQUITY (DEFICIT) - USD ($) shares in Thousands, $ in Thousands	Common Stock	Additional Paid-in-Capital	Accumulated Other Comprehensive Income	Accumulated Deficit	Treasury Stock	Noncontrolling Interest	Total
Balance at Dec. 31, 2013	$ 5	$ 6,073	$ 2	$ (147,246)	$ (132)	$ (7,744)	$ (149,042)
Balance (in shares) at Dec. 31, 2013	2,122				(28)
Stockholders' Deficit
Common stock issued under stock plans	$ 1	552				70	623
Common stock issued under stock plans (in shares)	348
Share-based compensation		1,530					1,530
Other comprehensive income			42				42
Net income (loss)				(12,126)		(1,931)	(14,057)
Balance at Dec. 31, 2014	$ 6	8,155	44	(159,372)	$ (132)	(9,605)	(160,904)
Balance (in shares) at Dec. 31, 2014	2,470				(28)
Stockholders' Deficit
Conversion of preferred stock into common stock	$ 17	159,060					159,077
Conversion of preferred stock into common stock (in shares)	21,736
Issuance of common stock in initial public offering	$ 7	113,582					113,589
Issuance of common stock in initial public offering (in shares)	6,900
Common stock issued under stock plans	$ 2	2,979					2,981
Common stock issued under stock plans (in shares)	1,097
Exercise of common stock warrant		188					188
Exercise of common stock warrant (in shares)	6
Share-based compensation		7,889					7,889
Other comprehensive income			7				7
Deconsolidation of DOSE						10,685	10,685
Net income (loss)				(37,241)		$ (1,080)	(38,321)
Balance at Dec. 31, 2015	$ 32	291,853	51	(196,613)	$ (132)		$ 95,191
Balance (in shares) at Dec. 31, 2015	32,209				(28)		32,181
Stockholders' Deficit
Common stock issued under stock plans	$ 2	8,064					$ 8,066
Common stock issued under stock plans (in shares)	1,756
Exercise of common stock warrant		112					112
Exercise of common stock warrant (in shares)	6
Share-based compensation		8,786					8,786
Other comprehensive income			597				597
Net income (loss)				4,522			4,522
Balance at Dec. 31, 2016	$ 34	$ 308,815	$ 648	$ (192,091)	$ (132)		$ 117,274
Balance (in shares) at Dec. 31, 2016	33,971				(28)		33,943