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Equity Incentive Plans - Schedule of Stock Options Outstanding, Exercisable and Vested (Details) - 2005 Plan and 2017 Plan - $ / shares
12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Outstanding balance 1,294,128 1,130,141 938,250 916,584
Weighted-average Remaining Contractual Life (years) 6 years 2 months 19 days 6 years 3 months 14 days 6 years 3 months 21 days  
Exercisable and Vested balance 883,959 842,261 731,516  
Weighted-average Remaining Contractual Life (years) 5 years 5 years 3 months 25 days 5 years 9 months 14 days  
Weighted-average Exercise Price $ 0.85 $ 0.74 $ 0.94