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Income Taxes - Schedule of Significant Components of Deferred Tax Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Income Tax Disclosure [Abstract]      
Net operating loss carryforwards $ 24,869 $ 20,066 $ 13,093
Capitalized research and development expenses 14,181 7,855 6,684
Research credits and other state credits 3,565 1,368 1,171
Intangible assets 4,176 4,926 28
Depreciation and amortization (120) (260) (360)
Reserve and accruals 1,648 891 677
Valuation allowance $ (48,319) $ (34,846) $ (21,293)