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Long-term debt (Details) - USD ($)
$ in Thousands
 12 Months Ended
May 06, 2016
Jun. 26, 2014
Jun. 14, 2013
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Long-term Debt            
Net cash inflow associated with increase in debt loan facility           $ 9,542
Interest rate (as a percent)       5.70% 5.70%  
Venture debt loan facility with Hercules            
Long-term Debt            
Maximum borrowing capacity $ 40,000 $ 20,000 $ 10,000      
Interest-only period (in months) 18 months 18 months 15 months      
Net cash inflow associated with increase in debt loan facility   $ 9,800        
Interest rate (as a percent) 8.25% 10.25%        
Discount rate (as a percent) 5.25% 5.25%        
Maturity period (in months)   48 months        
Back-end fees due on October 2016   $ 300        
Back-end fees due on June 2018   $ 200        
Outstanding debt       $ 20,000    
Back-end fee (as a percent) 4.85%          
Facility fee (as a percent) 0.75%          
Interest-only period due to first cumulative raisings (in months) 24 months          
Amount of first cumulative raisings $ 30,000          
Interest-only period due to second cumulative raisings (in months) 30 months          
Amount of second cumulative raisings $ 50,000          
Amortized cost net of discount and debt issuance costs       20,200 $ 20,200  
Foreign currency loss       900 2,200 2,400
Interest expense on debt       $ 2,200 $ 2,500 $ 2,000
Percentage of worldwide cash reserves       50.00%    
Aggregate maturities of loan            
Coupon interest payments and financing fees       $ 4,800    
2017       2,200    
2018       9,100    
2019       8,900    
2020       $ 4,700