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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jun. 18, 2014
Dec. 31, 2019
Nov. 30, 2018
Jul. 31, 2018
Jan. 31, 2017
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Nov. 30, 2016
Jun. 30, 2015
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period           4 years        
Common stock reserved 1,454,549                  
Maximum shares to be issued up on exercise of incentive stock options 1,153,279                  
Number of options granted during the period           2,362,685        
Weighted-average grant-date estimated fair value of options granted           $ 1.79 $ 4.29 $ 8.19    
Fair Value of exercise price   7.51       7.51        
Estimated fair value of options exercised during period           $ 400 $ 0 $ 300    
Estimated fair value of restricted stock vested during period           200 600 400    
Stock based compensation expenses           $ 9,936 $ 9,226 $ 9,590    
Shares available for future grant   1,196,746       1,196,746 608,528      
Proceeds from issuance of common stock, net of issuance costs   $ 134,900                
Purchase price of common shares                   $ 10.70
Warrants issued to purchase common stock                   2,172,899
Exercise price for warrants   $ 13.91       $ 13.91       $ 13.91
Issuance of common stock for services, shares           113,136 75,183 46,858    
Issuance of common stock for services, amount           $ 312 $ 303      
Employee Stock Purchase Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Unrecognized Compensation Expense   $ 53       $ 53        
Average Vesting Period           2 months 12 days        
2014 Equity Incentive Award Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common stock reserved 1,419,328                  
Maximum shares to be issued up on exercise of incentive stock options           10,683,053        
Possible increase in shares reserved for issuance as percentage of outstanding stock           4.00%        
2008 Stock Incentive Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Increase in shares reserved for issuance 35,221                  
2014 Employee Stock Purchase Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common stock reserved 202,762                  
Maximum shares to be issued up on exercise of incentive stock options           2,230,374        
Possible increase in shares reserved for issuance as percentage of outstanding stock           1.00%        
Shares available for future grant   519,578       519,578 680,322      
2016 Employment Commencement Incentive Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Number of options granted during the period           0        
2016 Employment Commencement Incentive Plan [Member] | Board of Directors [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common stock reserved                 1,000,000  
Options to Purchase Common Stock [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Unrecognized Compensation Expense   $ 8,277       $ 8,277        
Average Vesting Period           2 years 6 months        
Restricted Stock Units (RSUs) [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Stock based compensation expenses           $ 300 $ 900 $ 900    
Service Based Restricted Stock Units [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Number of Shares, Outstanding             85,609      
Number of vested shares           85,609        
Performance-Based Restricted Stock Units (PRSUs) [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Stock based compensation expenses           $ 2,400 $ 0      
Unrecognized Compensation Expense   $ 965       $ 965        
Average Vesting Period           8 months 12 days        
Number of Shares, Granted       903,374 161,865          
Number of Shares, Outstanding   849,757       849,757 894,764      
Number of vested shares     125,895     0        
Recognized stock-based compensation related expense in connection with vesting of award granted           $ 0 $ 600 $ 1,000