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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Employee Stock Option [Member] - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2018
Jun. 30, 2017
Jun. 30, 2018
Jun. 30, 2017
Number of Shares        
Outstanding, at the beginning of the period (in shares)     4,310,361  
Options granted (in shares) 70,000 40,000 621,479 498,426
Options exercised (in shares)     (336,004)  
Options forfeited (in shares)     (765,382)  
Outstanding, at the end of the period (in shares) 3,830,454   3,830,454  
Vested or expected to vest at the end of the period (in shares) 3,789,195   3,789,195  
Options exercisable at the end of the period (in shares) 3,109,152   3,109,152  
Weighted Average Exercise Price        
Outstanding at the beginning of the year (in dollars per shares)     $ 9.78  
Options granted (in dollars per share)     12.93  
Options exercised (in dollars per share)     7.48  
Options forfeited (in dollars per share)     13.60  
Outstanding at the end of the period (in dollars per shares) $ 9.73   9.73  
Vested or expected to vest at the end of the period (in dollars per share) 9.70   9.70  
Options exercisable at the end of the period (in dollars per share) $ 9.00   $ 9.00  
Weighted Average Remaining Contractual Term        
Outstanding     3 years 8 months 23 days  
Vested or expected to vest     3 years 8 months 1 day  
Options exercisable     2 years 6 months  
Aggregate Intrinsic Value        
Outstanding $ 12,741   $ 12,741  
Vested or expected to vest 12,738   12,738  
Options exercisable $ 12,659   $ 12,659