Investments, Debt and Equity Securities [Abstract] Short-term Investments Investments in Debt and Marketable Equity Securities (and Certain Trading Assets) Disclosure [Text Block] Property, Plant and Equipment [Abstract] Property, Plant and Equipment [Table] Property, Plant and Equipment [Table] Property, Plant and Equipment, Type [Axis] Property, Plant and Equipment, Type [Axis] Property, Plant and Equipment, Type [Domain] Property, Plant and Equipment, Type [Domain] Lease and loaner instruments Lease And Loaner Instruments [Member] Lease And Loaner Instruments [Member] Property, Plant and Equipment [Line Items] Property, Plant and Equipment [Line Items] Accumulated depreciation Accumulated Depreciation, Depletion and Amortization, Property, Plant, and Equipment Depreciation and amortization Depreciation Subsequent Events [Abstract] Subsequent Event [Table] Subsequent Event [Table] Sale of Stock [Axis] Sale of Stock [Axis] Sale of Stock [Domain] Sale of Stock [Domain] At the market equity offering At The Market Equity Offering [Member] At The Market Equity Offering [Member] Subsequent Event Type [Axis] Subsequent Event Type [Axis] Subsequent Event Type [Domain] Subsequent Event Type [Domain] Subsequent Event [Line Items] Subsequent Event [Line Items] Proceeds from sale of common stock, net Proceeds from Issuance of Common Stock Credit facility, maximum borrowing capacity Line of Credit Facility, Maximum Borrowing Capacity Accounting Policies [Abstract] Accounting Principles and Principles of Consolidation Basis of Accounting, Policy [Policy Text Block] Use of Estimates Use of Estimates, Policy [Policy Text Block] Cash and Cash Equivalents Cash and Cash Equivalents, Policy [Policy Text Block] Investments Investment, Policy [Policy Text Block] Accounts Receivable and Allowance for Doubtful Accounts Trade and Other Accounts Receivable, Policy [Policy Text Block] Concentration of Credit Risks Concentration Risk, Credit Risk, Policy [Policy Text Block] Fair value of financial instruments Fair Value of Financial Instruments, Policy [Policy Text Block] Inventory Inventory, Policy [Policy Text Block] Property and Equipment Property, Plant and Equipment, Policy [Policy Text Block] Leases and Leasehold Improvements Lessee, Leases [Policy Text Block] Impairment of Long-Lived Assets Impairment or Disposal of Long-Lived Assets, Policy [Policy Text Block] Deferred Offering Costs Deferred Charges, Policy [Policy Text Block] Segments Segment Reporting, Policy [Policy Text Block] Revenue Recognition Revenue Recognition, Policy [Policy Text Block] Cost of Revenue Cost of Sales, Policy [Policy Text Block] Reserve for Product Warranties Extended Product Warranty, Policy [Policy Text Block] Research and Development Research and Development Expense, Policy [Policy Text Block] Selling, General and Administrative Selling, General and Administrative Expenses, Policy [Policy Text Block] Income Taxes Income Tax, Policy [Policy Text Block] Stock-Based Compensation Share-based Compensation, Option and Incentive Plans Policy [Policy Text Block] Guarantees and Indemnifications Guarantees, Indemnifications and Warranties Policies [Policy Text Block] Comprehensive Loss Comprehensive Income, Policy [Policy Text Block] Recently Adopted Accounting Pronouncement and Recent Accounting Pronouncements New Accounting Pronouncements, Policy [Policy Text Block] Fair Value Measurements Fair Value Measurement, Policy [Policy Text Block] Net Loss Per Share Earnings Per Share, Policy [Policy Text Block] Income Tax Disclosure [Abstract] Net operating loss carryforwards Deferred Tax Assets, Operating Loss Carryforwards Research and development tax credit carryforwards Deferred Tax Assets, Tax Credit Carryforwards, Research Deferred Tax Assets, Tax Credit Carryforwards, Foreign Deferred Tax Assets, Tax Credit Carryforwards, Foreign Stock-based compensation Deferred Tax Assets, Tax Deferred Expense, Compensation and Benefits, Share-based Compensation Cost Other Deferred Tax Assets, Other Total deferred tax assets Deferred Tax Assets, Gross Less: Valuation allowance Deferred Tax Assets, Valuation Allowance Net deferred tax assets Deferred Tax Assets, Net of Valuation Allowance Retirement Benefits [Abstract] Defined Contribution Retirement Plan Pension and Other Postretirement Benefits Disclosure [Text Block] Organization, Consolidation and Presentation of Financial Statements [Abstract] Subsidiary or Equity Method Investee, Sale of Stock by Subsidiary or Equity Investee [Table] Subsidiary or Equity Method Investee, Sale of Stock by Subsidiary or Equity Investee [Table] Overallotment option Over-Allotment Option [Member] Subsidiary, Sale of Stock [Line Items] Subsidiary, Sale of Stock [Line Items] Common stock, shares issued (in shares) Stock Issued During Period, Shares, New Issues Proceeds from underwritten public offering Stock Issued During Period, Value, New Issues Underwriters partially exercised an overallotment option, additional gross proceeds Proceeds from Stock Options Exercised Proceeds from underwritten public offering after fees and commissions Sale of Stock, Consideration Received on Transaction Sale of Stock, Number of Shares Issued in Transaction Sale of Stock, Number of Shares Issued in Transaction Subsidiary or Equity Method Investee, Cumulative Proceeds Received on All Transactions Subsidiary or Equity Method Investee, Cumulative Proceeds Received on All Transactions Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward] Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward] Unrecognized tax benefits at beginning of year Unrecognized Tax Benefits Additions based on current year tax positions Unrecognized Tax Benefits Increase Decreases Resulting From Current Period Tax Positions Unrecognized tax benefits increase decreases resulting from current period tax positions. Unrecognized tax benefits at end of year Disclosure of Compensation Related Costs, Share-based Payments [Abstract] Stock-based Compensation Disclosure of Compensation Related Costs, Share-based Payments [Text Block] Fair Value Disclosures [Abstract] Fair Value Measurements Fair Value Disclosures [Text Block] Description of the Business Business Description and Basis of Presentation [Text Block] Equity [Abstract] Each share of common stock is entitled to vote Common Stock Votes Per Share 1 Common stock votes per share one. Preferred stock, shares authorized (in shares) Preferred Stock, Shares Authorized Preferred stock, shares issued (in shares) Preferred Stock, Shares Issued Preferred stock, shares outstanding (in shares) Preferred Stock, Shares Outstanding Preferred stock warrants were converted into warrants to purchase common stock (in shares) Conversion Of Preferred Stock Warrants To Common Stock Warrants Shares Conversion Of Preferred Stock Warrants To Common Stock Warrants Shares Exercise price of common stock warrants (in dollars per share) Exercise Price Of Common Stock Warrants Exercise Price Of Common Stock Warrants Debt Disclosure [Abstract] Long-term debt and lease financing obligations Schedule of Debt [Table Text Block] Scheduled Future Payments of Principal for Outstanding Debt and Lease Financing Obligations Schedule of Maturities of Long-term Debt [Table Text Block] Document And Entity Information [Abstract] Document And Entity Information. Document Type Document Type Amendment Flag Amendment Flag Document Period End Date Document Period End Date Document Fiscal Year Focus Document Fiscal Year Focus Document Fiscal Period Focus Document Fiscal Period Focus Trading Symbol Trading Symbol Entity Registrant Name Entity Registrant Name Entity Central Index Key Entity Central Index Key Current Fiscal Year End Date Current Fiscal Year End Date Entity Well-known Seasoned Issuer Entity Well-known Seasoned Issuer Entity Current Reporting Status Entity Current Reporting Status Entity Voluntary Filers Entity Voluntary Filers Entity Filer Category Entity Filer Category Entity Common Stock, Shares Outstanding Entity Common Stock, Shares Outstanding Entity Public Float Entity Public Float Property and Equipment Property, Plant and Equipment Disclosure [Text Block] Inventory Disclosure [Abstract] Inventory Inventory Disclosure [Text Block] Income Taxes And Tax Related [Table] Income Taxes And Tax Related [Table] Income Taxes And Tax Related [Table] Income Tax Authority [Axis] Income Tax Authority [Axis] Income Tax Authority [Domain] Income Tax Authority [Domain] Federal and State Federal And State [Member] Federal And State [Member] Income Taxes And Tax Related [Line Items] Income Taxes And Tax Related [Line Items] Income Taxes And Tax Related [Line Items] Effective Income Tax Rate Reconciliation, Change in Enacted Tax Rate, Amount Effective Income Tax Rate Reconciliation, Change in Enacted Tax Rate, Amount Net operating loss carryforwards Operating Loss Carryforwards Tax credit carryforwards Tax Credit Carryforward, Amount Accrued interest and penalties recorded Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued Statement of Stockholders' Equity [Abstract] Statement [Table] Statement [Table] Equity Components [Axis] Equity Components [Axis] Equity Component [Domain] Equity Component [Domain] Additional Paid-in Capital Additional Paid-in Capital [Member] Statement [Line Items] Statement [Line Items] Issuance cost Adjustments to Additional Paid in Capital, Stock Issued, Issuance Costs 2018 Long-term Debt, Maturities, Repayments of Principal in Next Twelve Months 2019 Long-term Debt, Maturities, Repayments of Principal in Year Two 2020 Long-term Debt, Maturities, Repayments of Principal in Year Three 2021 Long-term Debt, Maturities, Repayments of Principal in Year Four 2022 Long-term Debt, Maturities, Repayments of Principal in Year Five Total Long Term Debt Long-term Debt Segment Reporting [Abstract] Classification of Revenue by Geography Revenue from External Customers by Geographic Areas [Table Text Block] Common Stock and Preferred Stock Stockholders' Equity Note Disclosure [Text Block] Investments that were other-than-temporarily impaired Other than Temporary Impairment Losses, Investments, Available-for-sale Securities Company's Available-for-Sale Securities by Level within Fair Value Hierarchy Fair Value, by Balance Sheet Grouping [Table Text Block] Significant Accounting Policies [Table] Significant Accounting Policies [Table] A summary of information pertaining to the Basis of Presentation and Summary of Significant Accounting Policies disclosure as a whole for which no other established gaap taxonomy identified hypercube is available. Concentration Risk Benchmark [Axis] Concentration Risk Benchmark [Axis] Concentration Risk Benchmark [Domain] Concentration Risk Benchmark [Domain] Sales Revenue, Net Sales Revenue, Net [Member] Concentration Risk Type [Axis] Concentration Risk Type [Axis] Concentration Risk Type [Domain] Concentration Risk Type [Domain] Customer Concentration Risk Customer Concentration Risk [Member] Customer [Axis] Customer [Axis] Customer [Domain] Customer [Domain] Merck Sharp & Dohme Corp. Merck Sharp And Dohme Corporation [Member] Merck Sharp And Dohme Corporation [Member] Medivation, Inc. and Astellas Pharma, Inc. Medivation, Inc. and Astellas Pharma, Inc. [Member] Medivation, Inc. and Astellas Pharma, Inc. [Member] Range [Axis] Range [Axis] Range [Domain] Range [Domain] Minimum Minimum [Member] Maximum Maximum [Member] Manufacturing equipment Manufacturing Equipment [Member] Manufacturing Equipment [Member] Prototype Systems Prototype Systems [Member] Prototype Systems [Member] Computer equipment Computer Equipment [Member] Furniture and fixtures Furniture and Fixtures [Member] Valuation Allowances and Reserves Type [Axis] Valuation Allowances and Reserves Type [Axis] Valuation Allowances and Reserves [Domain] Valuation Allowances and Reserves [Domain] Inventory Valuation Reserve Inventory Valuation Reserve [Member] Significant Accounting Policies [Line Items] Significant Accounting Policies [Line Items] Extended line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. Concentration Risk, Percentage Concentration Risk, Percentage Allowance for doubtful accounts Allowance for Doubtful Accounts Receivable, Current Allowance for doubtful accounts, additions Allowance for Doubtful Accounts Receivable, Period Increase (Decrease) Write-offs of uncollectible accounts Allowance for Doubtful Accounts Receivable, Write-offs Inventory reserves Inventory Valuation Reserves Inventory reserves additions Inventory Valuation Reserves Additions Inventory valuation reserves additions. Provision for inventory obsolescence Inventory Write-down Estimated useful lives of the assets Property, Plant and Equipment, Useful Life Impairment losses on long-lived assets Impairment of Intangible Assets, Finite-lived Number of reportable segments Number of Reportable Segments Extended warranty period Extended Product Warranty Period The extended product warranty liability period. Does not include increases or decreases in the standard warranty liability. Standard warranty period Standard Product Warranty Period The standard product warranty liability period. Does not include increases or decreases in an extended warranty liability. Percentage used to determine discount for stand-alone sales (previous 12 months) Percentage Used To Determine Discount For Standalone Sales, Within Previous 12 Months Represents the method (vendor-specific objective evidence, third-party eveidence, estiamted selling price) used to establish the selling price of the significant unit of accounting for allocation of the consideration of the multiple-deliverable arrangement. Product warranty accrual period Product Warranty Accrual Period The period of accrual amount as of the balance sheet date of the aggregate extended product warranty liability is amortized. Advertising costs Advertising Expense Guarantees and indemnifications liabilities Loss Contingency Accrual Stock Option Activity and Related Information Share-based Compensation, Stock Options, Activity [Table Text Block] Company's Options Outstanding Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range [Table Text Block] Restricted Stock Units Award Activity Schedule of Share-based Compensation, Restricted Stock Units Award Activity [Table Text Block] Stock Compensation Expense Schedule of Compensation Cost for Share-based Payment Arrangements, Allocation of Share-based Compensation Costs by Plan [Table Text Block] Fair Value of Employee Option Grant Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] Earnings Per Share [Abstract] Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table] Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table] Common Stock Common Stock [Member] Antidilutive Securities [Axis] Antidilutive Securities [Axis] Antidilutive Securities, Name [Domain] Antidilutive Securities, Name [Domain] Options to purchase common stock Employee Stock Option [Member] Restricted stock units Restricted Stock Units (RSUs) [Member] Common stock warrants Warrant [Member] Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] Anti-dilutive securities excluded from computation of earnings per share (in shares) Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount Schedule of Available-for-sale Securities [Table] Schedule of Available-for-sale Securities [Table] Major Types of Debt and Equity Securities [Axis] Major Types of Debt and Equity Securities [Axis] Major Types of Debt and Equity Securities [Domain] Major Types of Debt and Equity Securities [Domain] Corporate debt securities Corporate Debt Securities [Member] U.S. government-related debt securities US Government Agencies Debt Securities [Member] Schedule of Available-for-sale Securities [Line Items] Schedule of Available-for-sale Securities [Line Items] Amortized cost Available-for-sale Securities, Amortized Cost Basis Gross unrealized gains Available-for-sale Securities, Accumulated Gross Unrealized Gain, before Tax Gross unrealized losses Available-for-sale Securities, Accumulated Gross Unrealized Loss, before Tax Fair value Available-for-sale Securities, Current Maturing in one year or less Available-for-sale Securities, Debt Maturities, Next Twelve Months, Fair Value Maturing in one to three years Available For Sale Securities Debt Maturities After One Through Three Years Fair Value Available for sale securities debt maturities after one through three years fair value. Total available-for-sale securities Available-for-sale Securities, Debt Securities Long-Term Debt Debt Disclosure [Text Block] Line of Credit Facility [Table] Line of Credit Facility [Table] Debt Instrument [Axis] Debt Instrument [Axis] Debt Instrument, Name [Domain] Debt Instrument, Name [Domain] Term Loan Agreement Term Loan Agreement [Member] Term Loan Agreement [Member] Long-term Debt, Type [Axis] Long-term Debt, Type [Axis] Long-term Debt, Type [Domain] Long-term Debt, Type [Domain] Leased Property Capital Lease Obligations [Member] Line of Credit Facility [Line Items] Line of Credit Facility [Line Items] Credit facility, outstanding Long-term Line of Credit End of term payment Repayment Of Term Loan Final payment of the credit facility term. Amount of make-whole premium payment Repayment Of Term Loan Premium Lump-sum payment that becomes due under a financing agreement when repayment occurs before the stated maturity date. Total charge to interest expense Interest Costs Incurred Loss on extinguishment of debt Gain (Loss) on Extinguishment of Debt Credit facility additional borrowing Line Of Credit Facility Additional Borrowings Line of credit facility additional borrowings. Percentage of accrue interest Long-term Debt, Percentage Bearing Fixed Interest, Percentage Rate Percentage of deferred payment Deferred Payment Obligation Accrued Interest Rate Payment-in-kind percentage as agreed upon in the financing agreement to defer interest payments. Deferred interest payment Debt, Deferred Interest Payment Debt, Deferred Interest Payment Credit facility, additional borrowing capacity Line Credit Facility Additional Borrowing Capacity Line Credit Facility Additional Borrowing Capacity Debt Instrument, Unused Borrowing Capacity, Amount Debt Instrument, Unused Borrowing Capacity, Amount Term loans payable Loans Payable Interest payment period Debt Instrument, Interest Payment Period Debt Instrument, Interest Payment Period Number of installments Debt Instrument, Number Of Installments During Eighth Year Of Term Debt Instrument, Number of Installments During Eighth Year of Term Percentage of redemption fee Debt Instrument, Redemption Price, Percentage Percentage payment up on repayment of principal amount Line of Credit Facility, Commitment Fee Percentage Long term liability Long-term Line of Credit, Noncurrent Minimum liquidity covenant Minimum Liquidity Covenant Amount Minimum Liquidity Covenant Amount Annual revenue requirements Revenue Recognition, Milestone Method, Revenue Recognized Increase in annual revenue in fiscal years Increased Annual Revenues Increased Annual Revenues Interest expense Interest Expense Property and equipment, net Property, Plant and Equipment, Net Geographic Distribution [Axis] Geographic Distribution [Axis] Geographic Distribution [Domain] Geographic Distribution [Domain] Geographic Distribution, Domestic [Member] Geographic Distribution, Domestic [Member] Current Federal, State and Local, Tax Expense (Benefit) [Abstract] Current Federal, State and Local, Tax Expense (Benefit) [Abstract] Total provision for income taxes Current Income Tax Expense (Benefit) Loss Before Income Taxes Schedule of Income before Income Tax, Domestic and Foreign [Table Text Block] Significant Components of our Provision for Income Taxes Schedule of Components of Income Tax Expense (Benefit) [Table Text Block] Income Tax Expense (Benefit) Differed from Amounts Computed by Applying Statutory Federal Income Tax Rate Schedule of Effective Income Tax Rate Reconciliation [Table Text Block] Effect of Temporary Differences and Carryforwards Schedule Of Effects Of Temporary Differences That Give Rise To Deferred Tax Assets And Liabilities Table [Text Block] Schedule Of Effects Of Temporary Differences That Give Rise To Deferred Tax Assets And Liabilities Table [Text Block] Summary of Changes in Deferred Tax Asset Valuation Allowance Schedule Of Deferred Tax Assets Valuation Allowance Table [Text Block] Schedule Of Deferred Tax Assets Valuation Allowance Table [Text Block] Total Balance of Unrecognized Gross Tax Benefits Resulting from R&D Credits Claimed Summary of Income Tax Contingencies [Table Text Block] Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] Outstanding at December 31, 2015 (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number Granted (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Net of Forfeitures Canceled and forfeited (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures and Expirations in Period Exercised (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period Outstanding at December 31, 2016 (in shares) Options vested and expected to vest at December 31, 2016 (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number Options exercisable at December 31, 2016 (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Number Weighted- average exercise price per share Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract] Outstanding at December 31, 2015 (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price Granted (in dollars per share) Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price Canceled and forfeited (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures and Expirations in Period, Weighted Average Exercise Price Exercised (in dollars per share) Share-based Compensation Arrangements by Share-based Payment Award, Options, Exercises in Period, Weighted Average Exercise Price Outstanding at December 31, 2016 (in dollars per share) Options vested and expected to vest at December 31, 2016 (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Weighted Average Exercise Price Options exercisable at December 31, 2016 (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Exercise Price Weighted- average remaining contractual term (in years) Share-based Compensation Arrangement by Share-based Payment Award, Options Outstanding, Weighted Average Exercise Price, and Additional Disclosures [Abstract] Share-based Compensation Arrangement by Share-based Payment Award, Options Outstanding, Weighted Average Exercise Price, and Additional Disclosures [Abstract] Outstanding Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term Options vested and expected to vest as December 31, 2016 Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Remaining Contractual Term Options exercisable at December 31, 2016 Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term Aggregate intrinsic value (in thousands) Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] Outstanding Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value Options vested and expected to vest at December 31, 2016 Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Aggregate Intrinsic Value Options exercisable at December 31, 2016 Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Intrinsic Value Less Than 12 Months, Fair value Available-for-sale Securities, Continuous Unrealized Loss Position, Less than Twelve Months, Fair Value Less Than 12 Months, Gross unrealized loss Available-for-sale Securities, Continuous Unrealized Loss Position, Less than 12 Months, Accumulated Loss 12 Months or Greater, Fair value Available-for-sale Securities, Continuous Unrealized Loss Position, Twelve Months or Longer, Fair Value 12 Months or Greater, Gross unrealized losses Available-for-sale Securities, Continuous Unrealized Loss Position, 12 Months or Longer, Accumulated Loss Total, Fair value Available-for-sale Securities, Continuous Unrealized Loss Position, Fair Value Total, Gross unrealized losses Available-for-sale Securities, Continuous Unrealized Loss Position, Accumulated Loss Commitments and Contingencies Disclosure [Abstract] Future Minimum Lease Payments under Noncancelable Operating Leases Schedule Of Future Minimum Rental Payments For Capital Leases And Operating Leases Table [Text Block] Schedule Of Future Minimum Rental Payments For Capital Leases And Operating Leases Table [Text Block] Statement of Cash Flows [Abstract] Operating activities Net Cash Provided by (Used in) Operating Activities, Continuing Operations [Abstract] Net loss Net Income (Loss) Attributable to Parent Adjustments to reconcile net loss to net cash used in operating activities Adjustments, Noncash Items, to Reconcile Net Income (Loss) to Cash Provided by (Used in) Operating Activities [Abstract] Depreciation and amortization Depreciation, Depletion and Amortization Stock-based compensation expense Allocated Share-based Compensation Expense Loss on extinguishment of debt Amortization (accretion) of discount or premium on short-term investments Investment Income, Net, Amortization of Discount and Premium Interest accrued on long-term debt Interest Accrued On Long Term Notes Interest expense incurred, not yet paid, on all other long-term debt, which may include (1) interest on long-term notes, and (2) amortization of issuance costs not otherwise separately disclosed. Conversion of accrued interest to long-term debt Conversion Of Accrued Interest To Long Term Debt Conversion Of Accrued Interest To Long Term Debt (Gain) loss on disposal of property and equipment Gain (Loss) on Disposition of Assets Provision for bad debt Provision for Doubtful Accounts Changes in operating assets and liabilities Increase (Decrease) in Operating Capital [Abstract] Accounts receivable Increase (Decrease) in Accounts Receivable Inventory Increase (Decrease) in Inventories Prepaid expenses and other Increase (Decrease) in Prepaid Expense and Other Assets Other assets Increase (Decrease) in Other Operating Assets Accounts payable Increase (Decrease) in Accounts Payable Accrued liabilities Increase (Decrease) in Accrued Liabilities Accrued compensation and other employee benefits Increase (Decrease) in Employee Related Liabilities Customer deposits Increase (Decrease) in Customer Deposits Deferred revenue Increase (Decrease) in Deferred Revenue Deferred rent and other liabilities Increase (Decrease) In Deferred Rent And Other Operating Liabilities Increase (Decrease) in Deferred Rent and Other Operating Liabilities Net cash used in operating activities Net Cash Provided by (Used in) Operating Activities Investing activities Net Cash Provided by (Used in) Investing Activities, Continuing Operations [Abstract] Purchases of property and equipment Payments to Acquire Property, Plant, and Equipment Proceeds from sale of property and equipment Proceeds from Sale of Property, Plant, and Equipment Proceeds from sale of short-term investments Proceeds from Sale of Short-term Investments Proceeds from maturity of short-term investments Proceeds from Maturities, Prepayments and Calls of Available-for-sale Securities Purchases of short-term investments Payments to Acquire Available-for-sale Securities Net cash (used in) provided by investing activities Net Cash Provided by (Used in) Investing Activities Financing activities Net Cash Provided by (Used in) Financing Activities, Continuing Operations [Abstract] Proceeds from long-term debt Proceeds from Issuance of Long-term Debt Repayment of long-term debt and lease financing obligations Repayments of Long-term Capital Lease Obligations Issuance of common stock warrants Proceeds from Issuance of Warrants Proceeds from exercise of common stock warrants Proceeds from Warrant Exercises Proceeds from issuance of common stock for employee stock purchase plan Proceeds from Issuance of Shares under Incentive and Share-based Compensation Plans, Excluding Stock Options Deferred offering costs Payment of Financing and Stock Issuance Costs Tax withholdings related to net share settlements of restricted stock units Restricted Stock, Value, Shares Issued Net of Tax Withholdings Proceeds from exercise of stock options Net cash provided by financing activities Net Cash Provided by (Used in) Financing Activities Net increase (decrease) in cash and cash equivalents Cash and Cash Equivalents, Period Increase (Decrease), Excluding Exchange Rate Effect Effect of exchange rate changes on cash and cash equivalents Effect of Exchange Rate on Cash and Cash Equivalents Cash and cash equivalents Cash and Cash Equivalents, at Carrying Value [Abstract] Beginning of year Cash and Cash Equivalents, at Carrying Value End of year Supplemental disclosures Supplemental Cash Flow Information [Abstract] Cash paid for interest Interest Paid Cash paid for taxes Income Taxes Paid, Net Purchases of property and equipment, accrued but not paid Capital Expenditures Incurred but Not yet Paid Rental instruments reclassified from inventory Rental Instruments Reclassified From Inventory Rental instruments reclassified from inventory. Non-cash inventory exchange for services Inventory Exchanged for Services Inventory exchanged for services rendered. Non-cash capital lease Non Cash Capital Lease Obligations Non Cash Capital Lease Obligations Accrual of offering costs Accrued Offering Costs Accrued Offering Costs Quarterly Financial Information Disclosure [Abstract] Total revenue Revenues Net loss per share - basic and diluted (in dollars per share) Earnings Per Share, Basic and Diluted Schedule of Share-based Compensation Arrangements by Share-based Payment Award [Table] Schedule of Share-based Compensation Arrangements by Share-based Payment Award [Table] Award Type [Axis] Award Type [Axis] Equity Award [Domain] Equity Award [Domain] Share-based Compensation Arrangement by Share-based Payment Award [Line Items] Share-based Compensation Arrangement by Share-based Payment Award [Line Items] Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] Non-vested at December 31, 2015 (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number Granted (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period Vested (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period Forfeited (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period Non-vested at December 31, 2016 (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract] Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract] Non-vested at December 31, 2015 (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value Granted (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value Vested (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value Forfeited (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value Non-vested at December 31, 2016 (in dollars per share) Information about Geographic Areas Segment Reporting Disclosure [Text Block] Summary of Outstanding Options, Warrants and preferred stock were Excluded from Computation of Diluted Net Loss Per Share Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block] Income Statement [Abstract] Revenue: Revenues [Abstract] Product and service Revenue, Net Collaboration Recognition of Deferred Revenue Total revenue Costs and expenses: Costs and Expenses [Abstract] Cost of product and service revenue Cost of Revenue Research and development Research and Development Expense Selling, general and administrative Selling, General and Administrative Expense Total costs and expenses Costs and Expenses Loss from operations Operating Income (Loss) Other income (expense): Other Income and Expenses [Abstract] Interest income Investment Income, Interest Interest expense Investment Income, Investment Expense Other income (expense) Other Nonoperating Income (Expense) Total other income (expense) Nonoperating Income (Expense) Net loss before provision for income taxes Income (Loss) from Continuing Operations before Income Taxes, Noncontrolling Interest Provision for income taxes Income Tax Expense (Benefit) Net loss Net loss per share-basic and diluted (in dollars per share) Weighted average shares used in computing basic and diluted net loss per share (in shares) Weighted Average Number of Shares Outstanding, Basic and Diluted Statement of Financial Position [Abstract] Preferred stock, par value (in dollars per share) Preferred Stock, Par or Stated Value Per Share Common stock, par value (in dollars per share) Common Stock, Par or Stated Value Per Share Common stock, shares authorized (in shares) Common Stock, Shares Authorized Common stock, shares issued (in shares) Common Stock, Shares, Issued Common stock, shares outstanding (in shares) Common Stock, Shares, Outstanding Deferred Revenue Disclosure [Abstract] Schedule of Collaborative Arrangements and Non-collaborative Arrangement Transactions [Table] Schedule of Collaborative Arrangements and Non-collaborative Arrangement Transactions [Table] Counterparty Name [Axis] Counterparty Name [Axis] Counterparty Name [Domain] Counterparty Name [Domain] Celgene Corporation Celgene Corporation [Member] Celgene Corporation [Member] Lam Research Corporation [Member] Lam Research Corporation [Member] Lam Research Corporation Type of Arrangement and Non-arrangement Transactions [Axis] Type of Arrangement and Non-arrangement Transactions [Axis] Arrangements and Non-arrangement Transactions [Domain] Arrangements and Non-arrangement Transactions [Domain] Collaborative Arrangement Collaborative Arrangement [Member] Clinical Collaborative Arrangement Clinical Collaborative Arrangement [Member] Clinical Collaborative Arrangement [Member] Development Funding Development Funding [Member] Development Funding [Member] Deferred Revenue Arrangement Type [Axis] Deferred Revenue Arrangement Type [Axis] Deferred Revenue [Domain] Deferred Revenue [Domain] Upfront Payment Arrangement Up-front Payment Arrangement [Member] Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items] Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items] Milestone payments Collaboration agreement upfront payment Deferred Revenue, Additions Proceeds from Collaborators Proceeds from Collaborators Amount of certain milestones achieved in account receivable Accounts Receivable, Net, Current Revenue recognized under collaboration agreement Deferred revenue, net of current portion Deferred Revenue, Noncurrent Deferred revenue recorded under collaboration agreement Deferred Revenue License and Services Revenue License and Services Revenue Termination penalty Gain (Loss) on Contract Termination Estimated deferred revenue recognized within one year Deferred Revenue, Current Collaborative agreement period Collaborative Agreement Period Of Contract Collaborative Agreement Period Of Contract Maximum Amount Of Royalties Payable, Ratio To License And Service Revenue Maximum Amount Of Royalties Payable, Ratio To License And Service Revenue Maximum Amount Of Royalties Payable, Ratio To License And Service Revenue Reimbursement Of Counterparty Costs, Maximum Number Of Employees Reimbursement Of Counterparty Costs, Maximum Number Of Employees Reimbursement Of Counterparty Costs, Maximum Number Of Employees Class of Warrant or Right, Outstanding Class of Warrant or Right, Outstanding Exercise Price Of Common Stock Warrants Stock and Warrants Issued During Period, Value, Preferred Stock and Warrants Stock and Warrants Issued During Period, Value, Preferred Stock and Warrants Other Liabilities, Current Other Liabilities, Current Contribution for retirement plan Defined Contribution Plan, Cost Schedule of Revenues from External Customers and Long-Lived Assets [Table] Schedule of Revenues from External Customers and Long-Lived Assets [Table] Geographical [Axis] Geographical [Axis] Geographical [Domain] Geographical [Domain] United States UNITED STATES Revenues from External Customers and Long-Lived Assets [Line Items] Revenues from External Customers and Long-Lived Assets [Line Items] Subsequent Events Subsequent Events [Text Block] Raw materials Inventory, Raw Materials, Net of Reserves Work in process Inventory, Work in Process, Net of Reserves Finished goods Inventory, Finished Goods, Net of Reserves Inventory, net Inventory, Net Prototype instruments Prototypes And Other Equipment [Member] Prototypes And Other Equipment [Member] Leasehold improvements Leasehold Improvements [Member] Construction in progress Construction in Progress [Member] Useful Life (Years) Property and equipment, gross Property, Plant and Equipment, Gross Less: Accumulated depreciation and amortization Total property and equipment, net Schedule of Inventory Schedule of Inventory, Current [Table Text Block] Statement of Comprehensive Income [Abstract] Other comprehensive income (loss): Other Comprehensive Income (Loss), Tax [Abstract] Change in unrealized gain (loss) on short-term investments Other Comprehensive Income (Loss), Unrealized Holding Gain (Loss) on Securities Arising During Period, Net of Tax Comprehensive loss Comprehensive Income (Loss), Net of Tax, Attributable to Parent Schedule of Condensed Quarterly Financial Data Quarterly Financial Information [Table Text Block] Income tax provision at statutory rate Effective Income Tax Rate Reconciliation at Federal Statutory Income Tax Rate, Amount Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings and Other Nondeductible Amounts Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings and Other Nondeductible Amounts Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings and Other Nondeductible Amounts Change in tax credits Income Tax Reconciliation Change In Tax Credits Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to tax credits. Including, but not limited to, research credit, foreign tax credit, investment tax credit, and other tax credits. Change in valuation allowance Effective Income Tax Rate Reconciliation, Change in Deferred Tax Assets Valuation Allowance, Amount Foreign tax and other Effective Income Tax Rate Reconciliation, Other Reconciling Items, Amount Total provision for income taxes Americas Americas [Member] Europe & Middle East EMEA [Member] Asia Pacific Asia Pacific [Member] Number of operating leases Number Of Operating Leases Number of operating leases. General office, laboratory, and research and development space leased Area of Real Estate Property Deferred rent liability Deferred Rent Credit, Noncurrent Operating lease agreement rent expense Operating Leases, Rent Expense, Net Non cancellable purchase obligations Purchase Obligation Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range [Table] Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range [Table] Exercise Price Range [Axis] Exercise Price Range [Axis] Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Domain] Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Domain] $1.92 Exercise Price Range One [Member] Exercise Price Range One [Member] $2.24 – $6.72 Exercise Price Range Two [Member] Exercise Price Range Two [Member] $7.47 – $12.56 Exercise Price Range Three [Member] Exercise Price Range Three [Member] $12.77 Exercise Price Range Four [Member] Exercise Price Range Four [Member] $12.94 Exercise Price Range Five [Member] Exercise Price Range Five [Member] $13.01 – $14.95 Exercise Price Range Six [Member] Exercise Price Range Six [Member] $14.99 – $17.50 Exercise Price Range Seven [Member] Exercise Price Range Seven [Member] $17.89 – $18.90 Exercise Price Range Eight [Member] Exercise Price Range Eight [Member] $19.09 – $22.71 Exercise Price Range Nine [Member] Exercise Price Range Nine [Member] Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items] Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items] Exercise Price, Minimum (in dollars per share) Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Lower Range Limit Exercise Price, Maximum (in dollars per share) Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Upper Range Limit Options Outstanding - Number of Shares (in shares) Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Number of Outstanding Options Options Outstanding -Weighted- Average Remaining Contractual Life in Years Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Outstanding Options, Weighted Average Remaining Contractual Term Options Exercisable - Number of Shares (in shares) Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Number of Exercisable Options Options Exercisable - Weighted- Average Remaining Contractual Life in Years Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Exercisable Options, Weighted Average Remaining Contractual Term Inventory transferred into property, plant and equipment for internal use Inventory Transferred To Property And Equipment For Internal Use Inventory transferred to property and equipment for internal use. Schedule of Long-term Debt Instruments [Table] Schedule of Long-term Debt Instruments [Table] Debt Instrument [Line Items] Debt Instrument [Line Items] Lease financing obligations Capital Lease Obligations Total long-term debt and lease financing obligations Debt and Capital Lease Obligations Unamortized debt issuance costs Unamortized Debt Issuance Expense Current portion of lease financing obligations Capital Lease Obligations, Current Long-term debt and lease financing obligations, net of debt issuance costs and current portion Long-term Debt and Capital Lease Obligations Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table] Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table] Income Statement Location [Axis] Income Statement Location [Axis] Income Statement Location [Domain] Income Statement Location [Domain] Cost of revenue Cost Of Revenue [Member] Cost Of Revenue [Member] Research and development Research and Development Expense [Member] Selling, general and administrative Selling, General and Administrative Expenses [Member] Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] Stock-based compensation expense Share-based Compensation Other Comprehensive Loss AOCI Attributable to Parent [Member] Accumulated Deficit Retained Earnings [Member] Increase (Decrease) in Stockholders' Equity [Roll Forward] Increase (Decrease) in Stockholders' Equity [Roll Forward] Balance at (in shares) Shares, Outstanding Balances at Stockholders' Equity Attributable to Parent Issuance of common stock net of issuance costs (in shares) Issuance of common stock net of issuance costs Issuance of common stock for employee stock purchase plan (in shares) Stock Issued During Period, Shares, Employee Stock Purchase Plans Issuance of common stock for employee stock purchase plan Stock Issued During Period, Value, Employee Stock Purchase Plan Exercise of stock options (in shares) Exercise of stock options Stock Issued During Period, Value, Stock Options Exercised Exercise of common stock warrant, net (in shares) Stock Issued During Period, Shares, Other Exercise of common stock warrants, net Stock Issued During Period, Value, Other Vesting of restricted stock units (in shares) Stock Issued During Period, Shares, Restricted Stock Award, Net of Forfeitures Stock-based compensation Adjustments to Additional Paid in Capital, Share-based Compensation, Requisite Service Period Recognition Other comprehensive loss Other Comprehensive Income (Loss), Net of Tax Balance at (in shares) Balances at Collaboration Agreements Collaborative Arrangement Disclosure [Text Block] Significant Accounting Policies Significant Accounting Policies [Text Block] Income Taxes Income Tax Disclosure [Text Block] Fair Value Measurements, Recurring and Nonrecurring [Table] Fair Value Measurements, Recurring and Nonrecurring [Table] Fair Value, Hierarchy [Axis] Fair Value, Hierarchy [Axis] Fair Value Hierarchy [Domain] Fair Value Hierarchy [Domain] Level 1 Fair Value, Inputs, Level 1 [Member] Level 2 Fair Value, Inputs, Level 2 [Member] Level 3 Fair Value, Inputs, Level 3 [Member] Cash and Cash Equivalents [Axis] Cash and Cash Equivalents [Axis] Cash and Cash Equivalents [Domain] Cash and Cash Equivalents [Domain] Money market fund Money Market Funds [Member] Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] Cash equivalents Cash and Cash Equivalents, Fair Value Disclosure Short-term investments Total Assets, Fair Value Disclosure Condensed Quarterly Financial Data (unaudited) Quarterly Financial Information [Text Block] Assets Assets [Abstract] Current assets: Assets, Current [Abstract] Cash and cash equivalents Accounts receivable, net Inventory, net Prepaid expenses and other current assets Prepaid Expense and Other Assets, Current Total current assets Assets, Current Restricted cash Restricted Cash and Cash Equivalents, Noncurrent Other assets Other Assets, Noncurrent Total assets Assets Liabilities and Stockholders’ Equity Liabilities and Equity [Abstract] Current liabilities: Liabilities, Current [Abstract] Accounts payable Accounts Payable, Current Accrued liabilities Accrued Liabilities, Current Employee-related Liabilities, Current Employee-related Liabilities, Current Customer Deposits, Current Customer Deposits, Current Deferred revenue, current portion Deferred rent, current portion Deferred Rent Credit, Current Lease financing obligations, current portion Total current liabilities Liabilities, Current Deferred rent and other liabilities, net of current portion Deferred Rent Credit And Liabilities, Other Than Long-term Debt, Noncurrent Deferred Rent Credit And Liabilities, Other Than Long-term Debt, Noncurrent Long-term debt and lease financing obligations, net of current portion and debt issuance costs Total liabilities Liabilities Commitments and contingencies (Note 13) Commitments and Contingencies Stockholders’ equity Stockholders' Equity Attributable to Parent [Abstract] Preferred stock, $0.0001 par value, 15,000 shares authorized; none issued Preferred Stock, Value, Issued Common stock, $0.0001 par value, 150,000 shares authorized; 25,421 and 21,528 shares issued and outstanding at December 31, 2017 and 2016, respectively Common Stock, Value, Issued Additional paid-in-capital Additional Paid in Capital, Common Stock Other comprehensive loss Accumulated Other Comprehensive Income (Loss), Net of Tax Accumulated deficit Retained Earnings (Accumulated Deficit) Total stockholders’ equity Total liabilities and stockholders’ equity Liabilities and Equity 2017 Contractual Obligation, Due in Next Fiscal Year 2018 Contractual Obligation, Due in Second Year 2019 Contractual Obligation, Due in Third Year 2020 Contractual Obligation, Due in Fourth Year 2021 Contractual Obligation, Due in Fifth Year Thereafter Contractual Obligation, Due after Fifth Year Total Contractual Obligation Risk-free interest rates Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate Expected term (years) Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term Expected dividend yield Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate Expected volatility Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate Valuation and Qualifying Accounts Disclosure [Table] Valuation and Qualifying Accounts Disclosure [Table] Valuation Allowance of Deferred Tax Assets Valuation Allowance of Deferred Tax Assets [Member] Valuation and Qualifying Accounts Disclosure [Line Items] Valuation and Qualifying Accounts Disclosure [Line Items] Movement in Valuation Allowances and Reserves [Roll Forward] Movement in Valuation Allowances and Reserves [Roll Forward] Balance at Beginning of Year Charged to Costs and Expenses Valuation Allowances and Reserves, Additions for Charges to Cost and Expense Write-offs Valuation Allowances and Reserves, Deductions Balance at End of Year Domestic Income (Loss) from Continuing Operations before Income Taxes, Domestic Foreign Income (Loss) from Continuing Operations before Income Taxes, Foreign Net Loss Per Share Earnings Per Share [Text Block] Property and Equipment Property, Plant and Equipment [Table Text Block] Short-Term Investments Available-for-Sale Securities Available-for-sale Securities [Table Text Block] Fair Values of Available-for-Sale Securities by Contractual Maturity Investments Classified by Contractual Maturity Date [Table Text Block] 2004 Stock Option Plan and 2013 Equity Incentive Plan Two Thousand Four Stock Option Plan And Two Thousand Thirteen Equity Incentive Stock Plan [Member] Two Thousand Four Stock Option Plan And Two Thousand Thirteen Equity Incentive Stock Plan [Member] Employee Stock Option ESPP Employee Stock Purchase Plan [Member] Employee Stock Purchase Plan [Member] Shares authorized under the Plans (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized Stock options grant period, years Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period Stock options vesting period and exercisable period, years Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period Weighted-average grant date fair value per share (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value Aggregate intrinsic value for options exercised Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value Fair value of options vested Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value Number of employees affected Share-based Compensation Arrangement by Share-based Payment Award, Plan Modification, Number of Employees Affected Number of shares modified Share-Based Compensation Arrangement By Share-Based Payment Award, Plan Modification, Options, Number Of Shares Modified Share-Based Compensation Arrangement By Share-Based Payment Award, Plan Modification, Options, Number Of Shares Modified Incremental compensation cost Share-based Compensation Arrangement by Share-based Payment Award, Plan Modification, Incremental Compensation Cost Total value of shares vested Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value Shares vested (in shares) Unrecognized compensation cost Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized Unrecognized compensation cost, weighted-average recognized period Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition Tax benefit recognized related to share-based compensation cost Employee Service Share-based Compensation, Tax Benefit from Compensation Expense Length of offering period, in months Employee Stock Purchase Plan Offering Period Employee Stock Purchase Plan Offering Period Length of purchase periods, in months Employee Stock Purchase Plan Purchase Period Employee Stock Purchase Plan Purchase Period Contribution percentage of purchase shares on participants eligible compensation Employee Stock Purchase Plan Contribution Percentage Employee Stock Purchase Plan Contribution Percentage Purchase price percentage of fair market value of shares Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent Shares issued (in shares) Total share-based compensation expense Common stock reserved for issuance (in shares) Common Stock, Capital Shares Reserved for Future Issuance Share available for grant (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant Commitments and Contingencies Commitments and Contingencies Disclosure [Text Block]