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Interest Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Interest Expense, Debt [Abstract]      
End-of-term payment $ 206 $ 79 $ 81
Term Loan      
Interest Expense, Debt [Abstract]      
Nominal interest 2,378 253 296
Amortization of debt discount and debt issuance costs 173 46 62
End-of-term payment 206 79 81
Total $ 2,757 $ 378 $ 439