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Stock-Based Compensation (Details) - USD ($)
3 Months Ended 12 Months Ended
Mar. 31, 2017
Mar. 31, 2016
Dec. 31, 2016
Mar. 31, 2017
Dec. 31, 2014
Share-Based Compensation          
Fair value of vested stock options $ 1,100,000 $ 1,300,000      
Unrecognized compensation cost related to unvested stock options       $ 7,400,000  
Weighted-average period (in years) 2 years 6 months 11 days        
Stock-based compensation expense $ 1,128,000 1,264,000      
Performance-based awards          
Share-Based Compensation          
Remaining performance stock based options (in shares) 146,066   146,066 146,066  
Number of Shares          
Outstanding, beginning of the period (in shares) 146,066        
Outstanding, end of the period (in shares) 146,066   146,066    
2006 and 2014 Stock Option Plans | Stock Option          
Share-Based Compensation          
Aggregate fair value of options granted $ 1,700,000 $ 3,400,000      
Remaining performance stock based options (in shares) 4,042,627   4,042,627 4,152,265  
Forfeited performance stock based options (in shares) 215,608        
Number of Shares          
Outstanding, beginning of the period (in shares) 4,042,627        
Granted (in shares) 498,450        
Exercised (in shares) (111,630)        
Forfeited (in shares) (215,608)        
Cancelled (in shares) (61,574)        
Outstanding, end of the period (in shares) 4,152,265   4,042,627    
Exercisable (in shares)       2,267,596  
Vested or expected to vest (in shares)       3,881,040  
Weighted Average Exercise Price Per Share          
Outstanding, beginning of the period (in dollars per share) $ 8.20        
Granted (in dollars per share) 5.68        
Exercised (in dollars per share) 3.03        
Forfeited (in dollars per share) 8.60        
Cancelled (in dollars per share) 15.35        
Outstanding, end of the period (in dollars per share) $ 7.91   $ 8.20    
Exercisable (in dollars per share)       $ 6.99  
Vested or expected to vest (in dollars per share)       $ 7.88  
Weighted-Average Remaining Contractual Term (in years)          
Outstanding (in years) 7 years 3 months 11 days   7 years 18 days    
Exercisable (in years) 5 years 11 months 1 day        
Vested or expected to vest (in years) 7 years 1 month 24 days        
Aggregate Intrinsic Value          
Outstanding, beginning of the period $ 4,091,000        
Exercised (in dollars) 328,000        
Outstanding, end of the period $ 3,841,000   $ 4,091,000    
Exercisable       $ 3,726,000  
Vested or expected to vest       $ 3,836,000  
Fair value assumptions          
Weighted average fair value of options granted (in dollars per share) $ 3.34 $ 4.95      
Weighted-average risk-free interest rate (as a percentage) 2.02% 1.52%      
Expected dividend yield (as a percentage) 0.00% 0.00%      
Expected volatility (as a percentage) 63.00% 60.00%      
Expected terms (in years) 6 years 6 years      
2006 Stock Option Plan | Maximum | Stock Option          
Share-Based Compensation          
Expiration period (in years) 10 years        
Vesting period (in years) 4 years        
2014 Stock Option Plan | Stock Option          
Share-Based Compensation          
Shares available for future issuance under stock incentive plan (in shares)       823,529  
Percentage of common shares outstanding (as a percentage)       4.00%  
Shares available for grant (in shares)       973,512  
2014 Stock Option Plan | Maximum | Stock Option          
Share-Based Compensation          
Expiration period (in years) 10 years        
Vesting period (in years) 4 years        
2014 ESPP | Employee Stock Purchase Plan          
Share-Based Compensation          
Shares available for grant (in shares)       439,228 220,588
Percentage of full share price paid in purchase of common stock 85.00%        
Maximum amount of annual employee common stock purchases $ 25,000        
Stock-based compensation expense $ 62,000 $ 53,000      
Executive Officer | Performance-based awards          
Share-Based Compensation          
Remaining performance stock based options (in shares) 166,066   166,066    
Forfeited performance stock based options (in shares)     20,000    
Number of Shares          
Outstanding, beginning of the period (in shares) 166,066        
Forfeited (in shares)     (20,000)    
Outstanding, end of the period (in shares)     166,066