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Share Based Awards (Details) - shares
12 Months Ended
Jan. 01, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Jan. 05, 2016
Dec. 20, 2015
Share Based Compensation Arrangement By Share Based Payment Award            
Options granted, exercisable term   4 years 2 months 1 day        
Shares of common stock available for issuance   17,218,449 19,502,777      
Additional shares authorized   5,310,327 4,860,197 4,453,425    
ESPP            
Share Based Compensation Arrangement By Share Based Payment Award            
Maximum percentage of employee base compensation that may be utilized to purchase common stock under the ESPP   15.00%        
Percentage of purchase price of common stock at fair market value   85.00%        
2008 Stock Plan            
Share Based Compensation Arrangement By Share Based Payment Award            
Expiry term of exercisable options   10 years        
2014 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award            
Shares of common stock, authorized for issuance   8,142,857        
Maximum annual percentage increase in shares issuable   5.00%        
2014 Equity Incentive Plan | Incentive Stock Options            
Share Based Compensation Arrangement By Share Based Payment Award            
Shares of common stock available for issuance 5,636,269          
Additional shares authorized as a percentage of common stock outstanding 5.00%          
Amended and Restated 2015 Inducement Plan            
Share Based Compensation Arrangement By Share Based Payment Award            
Shares of common stock, authorized for issuance           1,600,000
Shares of common stock available for issuance         1,970,000  
Amended and Restated 2015 Inducement Plan | Incentive Stock Options            
Share Based Compensation Arrangement By Share Based Payment Award            
Shares outstanding under the 2015 Inducement Plan   734,376        
2014 Employee Stock Purchase Plan/ESPP            
Share Based Compensation Arrangement By Share Based Payment Award            
Shares of common stock available for issuance   378,525 364,762      
Maximum annual percentage increase in shares issuable   1.00%        
Additional shares authorized 1,127,253          
Additional shares authorized as a percentage of common stock outstanding 1.00%          
Maximum increase in shares issuable   2,142,857        
2014 Employee Stock Purchase Plan/ESPP | ESPP            
Share Based Compensation Arrangement By Share Based Payment Award            
Shares of common stock available for issuance   378,525 364,762      
Minimum | 2008 Stock Plan            
Share Based Compensation Arrangement By Share Based Payment Award            
Options granted, exercisable term   3 years        
Maximum | 2008 Stock Plan            
Share Based Compensation Arrangement By Share Based Payment Award            
Options granted, exercisable term   4 years        
Maximum | 2014 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award            
Total shares issuable assuming annual increases   16,312,202