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Stock Incentive Plans - Activity Under Stock Option Plans (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2016 | Dec. 31, 2015
Shares Available for Grant |  |
Balance at the beginning of the period (in shares) | 1,058,359 |
Additional options authorized (in shares) | 1,114,416 |
Canceled (in shares) | 358,199 |
Balance at the end of the period (in shares) | 887,724 | 1,058,359
Stock Options Outstanding |  |
Balance at beginning of the period (in shares) | 4,179,521 |
Canceled (in shares) | (358,199) |
Exercised (in shares) | (212,740) |
Balance at the end of the period (in shares) | 5,251,832 | 4,179,521
Options vested and exercisable at the end of the period (in shares) | 2,628,328 |
Options vested and expected to vest at the end of the period (in shares) | 4,962,370 |
Weighted Average Exercise Price |  |
Balance at beginning of the period (in dollars per share) | $ 8.03 |
Canceled (in dollars per share) | 10.29 |
Exercised (in dollars per share) | 2.53 |
Balance at the end of the period (in dollars per share) | 7.56 | $ 8.03
Options vested and exercisable at the end of the period (in dollars per share) | 7.42 |
Options vested and expected to vest at the end of the period (in dollars per share) | $ 7.58 |
Weighted Average Remaining Contractual Life |  |
Balance | 7 years 2 months 26 days | 7 years 6 months
Options vested and exercisable at the end of the period | 5 years 10 months 20 days |
Options vested and expected to vest at the end of the period | 7 years 1 month 27 days |
Aggregate Intrinsic Value |  |
Balance at the beginning of the period (in dollars) | $ 6,511 |
Balance at the end of the period (in dollars) | 8,515 | $ 6,511
Options vested and exercisable at the end of the period (in dollars) | 6,008 |
Options vested and expected to vest at the end of the period (in dollars) | $ 8,254 |
Employee stock options |  |
Shares Available for Grant |  |
Granted (in shares) | (1,618,250) |
Stock Options Outstanding |  |
Granted (in shares) | 1,618,250 |
Weighted Average Exercise Price |  |
Granted (in dollars per share) | $ 6.30 |
Restricted stock units (RSUs) |  |
Shares Available for Grant |  |
Granted (in shares) | (25,000) |
Stock Options Outstanding |  |
Granted (in shares) | 25,000 |

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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References No definition available. + Details
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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of fully vested and expected to vest options outstanding. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition As of the balance sheet date, the number of shares into which fully vested and expected to vest stock options outstanding can be converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(1) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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