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Income Taxes (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Operating Loss Carryforwards [Line Items] |  |  |
U.S. federal income tax rate (percent) | 34.00% | 34.00% | 34.00%
Undistributed earnings of foreign subsidiaries | $ 1.2 |  |
Limitation on use of net operating loss, cumulative ownership change, more than | 50.00% |  |
Limitation on use of net operating loss, cumulative ownership change, period of change | 3 years |  |
Federal |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Increase in valuation allowance for deferred tax assets | $ 2.0 | $ 8.4 |
Net operating loss carryforwards | $ 142.1 |  |
Net operating loss carryforwards, expiration date | Jan. 01, 2024 |  |
Federal | Research and Development Tax Credit Carryforward |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Research and development credit carryforwards | $ 2.5 |  |
Research and development credit carryforwards, expiration date | Jan. 01, 2022 |  |
State |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Net operating loss carryforwards | $ 79.9 |  |
Net operating loss carryforwards, expiration date | Jan. 01, 2017 |  |
State | Research and Development Tax Credit Carryforward |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Research and development credit carryforwards | $ 2.1 |  |

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