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Net Loss Per Share - Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares
9 Months Ended
Sep. 30, 2017
Sep. 30, 2016
Shares subject to outstanding common stock options    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share (in shares) 8,336,496 7,589,951
Shares subject to unvested restricted stock awards    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share (in shares) 176,665 353,335
Shares issuable pursuant to the ESPP    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share (in shares) 87,265 0