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Summary of Significant Accounting Policies and Recent Accounting Pronouncements - Reconciliation of segment information to consolidated operating loss (Details) - USD ($)
$ in Thousands
3 Months Ended 12 Months Ended
Dec. 31, 2015
Sep. 30, 2015
Jun. 30, 2015
Mar. 31, 2015
Dec. 31, 2014
Sep. 30, 2014
Jun. 30, 2014
Mar. 31, 2014
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Accounting Policies [Abstract]                      
Gross margin                 $ 15,121 $ 16,734 $ 13,577
Research and development programs revenue $ 3,348 $ 2,266 $ 3,433 $ 3,784 $ 5,149 $ 5,936 $ 6,917 $ 5,043 12,831 23,045 19,788
Research and development expense 9,586 13,207 12,747 12,554 18,210 20,571 22,064 20,835 48,094 81,680 66,572
Sales, general and administrative expense 18,888 19,596 20,981 21,268 22,139 25,883 21,637 20,607 80,733 90,266 62,933
Restructuring charges 4,581 (21) (31) 424 3,514 0 0 0 4,953 3,514 0
Loss from operations $ (27,246) $ (25,953) $ (26,318) $ (26,311) $ (35,515) $ (35,493) $ (32,232) $ (32,441) $ (105,828) $ (135,681) $ (96,140)