Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2016	Dec. 31, 2015	Dec. 31, 2014
Schedule of stock-based compensation expense
Stock-based compensation	$ 5,673	$ 5,126	$ 4,620
Research and development
Schedule of stock-based compensation expense
Stock-based compensation	1,033	935	953
Selling, general and administrative
Schedule of stock-based compensation expense
Stock-based compensation	$ 4,640	$ 4,191	$ 3,667

The aggregate amount of noncash, equity-based employee remuneration. This may include the value of stock or unit options, amortization of restricted stock or units, and adjustment for officers' compensation. As noncash, this element is an add back when calculating net cash generated by operating activities using the indirect method.

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 45
-Paragraph 28
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=66902209&loc=d3e3602-108585

Name:	us-gaap_ShareBasedCompensation
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration