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Equity Incentive Plans and Stock-Based Compensation (Details 4)
 12 Months Ended
Dec. 31, 2016
$ / shares
shares
Exercise price range 1  
Exercise price range  
Exercise price range, low end of range (in dollars per share) $ 4.13
Exercise price range, high end of range (in dollars per share) $ 5.39
Options Outstanding  
Number Outstanding (in shares) | shares 651,904
Weighted Average Remaining Contractual Life (in years) 4 years 11 months 23 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 4.33
Options Exercisable  
Number Exercisable (in shares) | shares 109,740
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 4.77
Exercise price range 2  
Exercise price range  
Exercise price range, low end of range (in dollars per share) 5.46
Exercise price range, high end of range (in dollars per share) $ 5.46
Options Outstanding  
Number Outstanding (in shares) | shares 706,814
Weighted Average Remaining Contractual Life (in years) 5 years 6 months 7 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 5.46
Options Exercisable  
Number Exercisable (in shares) | shares 669,387
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 5.46
Exercise price range 3  
Exercise price range  
Exercise price range, low end of range (in dollars per share) 5.49
Exercise price range, high end of range (in dollars per share) $ 5.63
Options Outstanding  
Number Outstanding (in shares) | shares 548,630
Weighted Average Remaining Contractual Life (in years) 2 years 6 months 15 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 5.63
Options Exercisable  
Number Exercisable (in shares) | shares 546,887
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 5.63
Exercise price range 4  
Exercise price range  
Exercise price range, low end of range (in dollars per share) 5.76
Exercise price range, high end of range (in dollars per share) $ 5.76
Options Outstanding  
Number Outstanding (in shares) | shares 1,195,119
Weighted Average Remaining Contractual Life (in years) 5 years 6 months
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 5.76
Options Exercisable  
Number Exercisable (in shares) | shares 600,119
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 5.76
Exercise price range 5  
Exercise price range  
Exercise price range, low end of range (in dollars per share) 6.83
Exercise price range, high end of range (in dollars per share) $ 8.73
Options Outstanding  
Number Outstanding (in shares) | shares 667,795
Weighted Average Remaining Contractual Life (in years) 4 years 11 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 7.72
Options Exercisable  
Number Exercisable (in shares) | shares 644,421
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 7.70
Exercise price range 6  
Exercise price range  
Exercise price range, low end of range (in dollars per share) 8.76
Exercise price range, high end of range (in dollars per share) $ 8.76
Options Outstanding  
Number Outstanding (in shares) | shares 945,290
Weighted Average Remaining Contractual Life (in years) 6 years 9 months 26 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 8.76
Options Exercisable  
Number Exercisable (in shares) | shares 608,983
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 8.76
Exercise price range 7  
Exercise price range  
Exercise price range, low end of range (in dollars per share) 9.18
Exercise price range, high end of range (in dollars per share) $ 12.30
Options Outstanding  
Number Outstanding (in shares) | shares 708,832
Weighted Average Remaining Contractual Life (in years) 7 years 5 months 16 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 11.29
Options Exercisable  
Number Exercisable (in shares) | shares 351,337
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 11.13
Exercise price range 8  
Exercise price range  
Exercise price range, low end of range (in dollars per share) 12.31
Exercise price range, high end of range (in dollars per share) $ 18.69
Options Outstanding  
Number Outstanding (in shares) | shares 897,324
Weighted Average Remaining Contractual Life (in years) 5 years 1 month 28 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 14.82
Options Exercisable  
Number Exercisable (in shares) | shares 534,347
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 16.42
Exercise price range 9  
Exercise price range  
Exercise price range, low end of range (in dollars per share) 19.16
Exercise price range, high end of range (in dollars per share) $ 22.72
Options Outstanding  
Number Outstanding (in shares) | shares 686,500
Weighted Average Remaining Contractual Life (in years) 1 year 11 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 20.47
Options Exercisable  
Number Exercisable (in shares) | shares 686,500
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 20.47
Exercise price range 10  
Exercise price range  
Exercise price range, low end of range (in dollars per share) 23.60
Exercise price range, high end of range (in dollars per share) $ 23.60
Options Outstanding  
Number Outstanding (in shares) | shares 625
Weighted Average Remaining Contractual Life (in years) 1 year 3 months
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 23.60
Options Exercisable  
Number Exercisable (in shares) | shares 625
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 23.60
Exercise price range 11  
Exercise price range  
Exercise price range, low end of range (in dollars per share) 4.13
Exercise price range, high end of range (in dollars per share) $ 23.60
Options Outstanding  
Number Outstanding (in shares) | shares 7,008,833
Weighted Average Remaining Contractual Life (in years) 4 years 11 months 23 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 9.34
Options Exercisable  
Number Exercisable (in shares) | shares 4,752,346
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 10.05