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Debt - 2016 Loan and Security Agreement (Details) - USD ($)
 3 Months Ended 12 Months Ended
Aug. 01, 2016
Dec. 31, 2016
Sep. 30, 2016
Jun. 30, 2016
Mar. 31, 2016
Dec. 31, 2015
Sep. 30, 2015
Jun. 30, 2015
Mar. 31, 2015
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Debt Instrument [Line Items]                        
Loss on extinguishment of debt   $ 0 $ 1,026,000 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 1,026,000 $ 0 $ 0
Loan and Security Agreements 2014 and 2013 [Member]                        
Debt Instrument [Line Items]                        
Loss on extinguishment of debt                   1,000,000    
Prepayment penalties on extinguishment of debt                   400,000    
Write-off of unamortized debt discounts                   400,000    
Write-off of unamortized debt                   200,000    
Revolving Credit Facility | Line of Credit | Loan and Security Agreement 2016                        
Debt Instrument [Line Items]                        
Credit facility, maximum borrowing capacity $ 50,000,000.0                      
Credit agreement, amount outstanding $ 32,600,000 32,600,000               32,600,000    
Unused line of credit capacity, fee 0.25%                      
First and second anniversary fee for line of credit $ 31,250                      
Credit facility, remaining borrowing capacity   17,400,000               17,400,000    
Debt issuance costs                   200,000    
Debt issuance costs, amortization period 3 years                      
Unrestricted cash required to be deposited with lenders   $ 25,000,000               $ 25,000,000    
Revolving Credit Facility | Line of Credit | Loan and Security Agreement 2016 | Prime Rate                        
Debt Instrument [Line Items]                        
Percentage increase in interest rate if adjusted EBITDA is negative at end of quarter 0.25%                      
Minimum | Revolving Credit Facility | Line of Credit | Loan and Security Agreement 2016 | Prime Rate                        
Debt Instrument [Line Items]                        
Debt instrument, basis spread (as a percentage) 0.50%