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Stock-Based Compensation (Details 2) - $ / shares
12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
$0.79 - $1.00      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options outstanding, exercise price range, lower range limit (in dollars per share) $ 0.79 $ 0.79  
Options outstanding, exercise price range, upper range limit (in dollars per share) $ 1.00 $ 1.00  
Options outstanding, number of options (in shares) 25,000 50,000  
Options outstanding, weighted average remaining contractual term 2 years 4 days 3 years 4 days  
Options outstanding, weighted average exercise price (in dollars per share) $ 0.79 $ 0.79  
Options exercisable, number of options (in shares) 25,000 50,000  
Options exercisable, weighted average exercise price (in dollars per share) $ 0.79 $ 0.79  
1.01 - 1.50      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options outstanding, exercise price range, lower range limit (in dollars per share) 1.01 1.01 $ 1.01
Options outstanding, exercise price range, upper range limit (in dollars per share) $ 1.50 $ 1.50 $ 1.50
Options outstanding, number of options (in shares) 1,721,000 1,808,400 1,862,400
Options outstanding, weighted average remaining contractual term 4 years 1 month 21 days 5 years 1 month 11 days 6 years 1 month 20 days
Options outstanding, weighted average exercise price (in dollars per share) $ 1.06 $ 1.07 $ 1.07
Options exercisable, number of options (in shares) 1,721,000 1,808,400 1,851,400
Options exercisable, weighted average exercise price (in dollars per share) $ 1.06 $ 1.07 $ 1.07
1.51 - 10.67      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options outstanding, exercise price range, lower range limit (in dollars per share) 1.51 1.51  
Options outstanding, exercise price range, upper range limit (in dollars per share) $ 10.67 $ 10.67  
Options outstanding, number of options (in shares) 2,553,810 2,246,969  
Options outstanding, weighted average remaining contractual term 7 years 9 months 4 days 8 years 3 months 35 days  
Options outstanding, weighted average exercise price (in dollars per share) $ 7.85 $ 7.82  
Options exercisable, number of options (in shares) 1,369,466 805,803  
Options exercisable, weighted average exercise price (in dollars per share) $ 7.92 $ 7.15  
$0.79 - $10.67      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options outstanding, exercise price range, lower range limit (in dollars per share) 0.79 0.79  
Options outstanding, exercise price range, upper range limit (in dollars per share) $ 10.67 $ 10.67  
Options outstanding, number of options (in shares) 4,299,810 4,105,369  
Options outstanding, weighted average remaining contractual term 6 years 3 months 11 days 6 years 8 months 70 days  
Options outstanding, weighted average exercise price (in dollars per share) $ 5.09 $ 4.76  
Options exercisable, number of options (in shares) 3,115,466 2,664,203  
Options exercisable, weighted average exercise price (in dollars per share) $ 4.07 $ 2.90  
$0.76 - $1.00      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options outstanding, exercise price range, lower range limit (in dollars per share)     0.76
Options outstanding, exercise price range, upper range limit (in dollars per share)     $ 1.00
Options outstanding, number of options (in shares)     50,000
Options outstanding, weighted average remaining contractual term     4 years 4 days
Options outstanding, weighted average exercise price (in dollars per share)     $ 0.79
Options exercisable, number of options (in shares)     50,000
Options exercisable, weighted average exercise price (in dollars per share)     $ 0.79
1.51 - 10.55      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options outstanding, exercise price range, lower range limit (in dollars per share)     1.51
Options outstanding, exercise price range, upper range limit (in dollars per share)     $ 10.55
Options outstanding, number of options (in shares)     1,680,334
Options outstanding, weighted average remaining contractual term     8 years 11 months 16 days
Options outstanding, weighted average exercise price (in dollars per share)     $ 8.10
Options exercisable, number of options (in shares)     289,997
Options exercisable, weighted average exercise price (in dollars per share)     $ 4.02
$0.79 - $10.67      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options outstanding, exercise price range, lower range limit (in dollars per share)     0.76
Options outstanding, exercise price range, upper range limit (in dollars per share)     $ 10.67
Options outstanding, number of options (in shares)     3,592,734
Options outstanding, weighted average remaining contractual term     7 years 5 months 5 days
Options outstanding, weighted average exercise price (in dollars per share)     $ 4.36
Options exercisable, number of options (in shares)     2,191,397
Options exercisable, weighted average exercise price (in dollars per share)     $ 1.45