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Stock Based Compensation (Details) - shares
6 Months Ended
Dec. 02, 2013
Jun. 30, 2017
Jun. 30, 2016
Dec. 31, 2016
Stock-based compensation        
Common stock, shares issued   46,854,762   46,567,978
Employee stock options        
Stock-based compensation        
Options granted (in shares)   1,356,100 1,138,000  
Employee Stock Purchase Plan        
Stock-based compensation        
Total number of shares of common stock available for issuance   581,286    
Awards issued under the plan (in shares)   255,992    
Annual increase in shares of common stock available for issuance (in shares)   0    
Employee Stock Purchase Plan | Maximum        
Stock-based compensation        
Annual percentage increase in shares of common stock available for issuance   1.00%    
Annual increase in shares of common stock available for issuance (in shares)   621,814    
The 2013 Plan        
Stock-based compensation        
Total number of shares of common stock available for issuance   8,637,790    
Annual percentage increase in shares of common stock available for issuance   4.00%    
Awards issued under the plan (in shares)   4,790,350    
Annual increase in shares of common stock available for issuance (in shares)   1,862,719    
The 2010 Plan        
Stock-based compensation        
Total number of shares of common stock available for issuance   2,684,456    
Options granted (in shares) 0