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Net Loss Per Share (Details) - shares
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share      
Shares of common stock subject to outstanding options 5,155,105 4,102,201 3,035,614
Options      
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share      
Shares of common stock subject to outstanding options 5,093,454 4,086,640 3,035,614
Employee stock purchase plan      
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share      
Shares of common stock subject to outstanding options 36,651 15,561 0
Restricted stock units (RSUs)      
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share      
Shares of common stock subject to outstanding options 25,000 0 0