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Stock-Based Compensation - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2016
Sep. 30, 2015
Sep. 30, 2016
Sep. 30, 2015
Share-based Compensation Arrangement by Share-based Payment Award        
Stock-based compensation $ 1,630,000 $ 1,144,000 $ 5,127,000 $ 4,013,000
Options to purchase common stock granted to employees and directors     3,281,000 2,228,000
Employees        
Share-based Compensation Arrangement by Share-based Payment Award        
Stock options, vesting period     4 years  
Directors        
Share-based Compensation Arrangement by Share-based Payment Award        
Stock options, vesting period     3 years