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Term Loan - Warrants (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
May 13, 2015
Mar. 31, 2017
Mar. 31, 2016
Nov. 30, 2014
May 31, 2013
Series A and Series B Warrants | Maximum          
Warrants          
Interest expense   $ 0.1 $ 0.1    
2013 Term Loan | Series A Warrants          
Warrants          
Number of shares that can be purchased by the warrants issued         150,000
Exercise price of warrants issued (in dollars per share)         $ 1.00
Number of warrants cancelled 5,991        
Stock issued upon exercise of warrants 21,281        
2014 Term Loan | Series B Warrants          
Warrants          
Number of shares that can be purchased by the warrants issued       83,333  
Exercise price of warrants issued (in dollars per share)       $ 1.20  
Number of warrants cancelled 3,994        
Stock issued upon exercise of warrants 11,157