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Stockholder's Equity - Shares Available for Future Issuance (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2016
Dec. 31, 2015
Weighted-average assumptions:          
Dividend yield (as a percent) 0.00%        
Estimated annual forfeiture rate (as a percent)   9.00% 7.00%    
Shares Available for Future Grant          
Balance at the end of the period (in shares) 1,101,331        
Shares Reserved for Future Issuance          
Stock options outstanding (in shares)       6,370,578  
Shares available for future grant under 2013 Plan (in shares) 1,101,331     1,101,331  
Employee stock purchase plan       225,806  
Warrants outstanding (in shares)       60,850  
Total shares of common stock reserved for issuance       7,758,565  
Weighted-average          
Weighted-average assumptions:          
Expected term of options (in years) 6 years 2 months 12 days 6 years 2 months 12 days 5 years 9 months 18 days    
Risk-free interest rate (as a percent) 1.50% 1.70% 1.80%    
Expected volatility (as a percent) 68.60% 68.50% 75.90%    
Dividend yield (as a percent) 0.00% 0.00% 0.00%    
2013 plan          
Shares Available for Future Grant          
Balance at the beginning of the period (in shares) 959,354        
Authorized (in shares)       2,032,104  
Granted (in shares) (2,067,500)        
Forfeitures/Expirations (in shares) 177,373        
Balance at the end of the period (in shares) 1,101,331 959,354      
Shares Reserved for Future Issuance          
Shares available for future grant under 2013 Plan (in shares) 959,354 959,354   1,101,331 959,354
Options outstanding          
Equity Incentive Plans          
Intrinsic value of options exercisable       $ 6.5  
Per share price of Company's closing stock price (in dollars per share)       $ 5.88  
Weighted average exercise price (in dollars per share)       $ 4.15  
Per-share weighted-average grant date fair value of options granted (in dollars per share) $ 5.26 $ 4.49 $ 4.43    
Weighted-average assumptions:          
Unrecognized compensation expense       $ 13.6  
Weighted average remaining period for recognition of unrecognized compensation expense 2 years 8 months 9 days        
Shares Reserved for Future Issuance          
Stock options outstanding (in shares)     3,574,450 6,370,578 4,630,073
Options outstanding | Weighted-average          
Weighted-average assumptions:          
Risk-free interest rate (as a percent) 1.50% 1.70%      
Expected volatility (as a percent) 68.60% 68.50%      
Dividend yield (as a percent) 0.00% 0.00%