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Debt - 2013 Loan and Security Agreement (Details) - USD ($)
1 Months Ended
Oct. 31, 2013
Mar. 31, 2013
Dec. 31, 2016
Dec. 31, 2015
Debt Instrument [Line Items]        
Debt, gross     $ 33,714,000  
Notes Payable        
Debt Instrument [Line Items]        
Debt, gross     1,120,000 $ 25,626,000
Notes Payable | 2013 Loan and Security Agreement        
Debt Instrument [Line Items]        
Debt, gross     $ 0 2,500,000
Revolving Credit Facility | 2013 Loan and Security Agreement        
Debt Instrument [Line Items]        
Credit facility, maximum borrowing capacity   $ 20,000,000.0    
Credit agreement, amount outstanding       12,500,000
Credit facility, remaining borrowing capacity       7,500,000
Covenant terms, minimum required cash on deposit at lender   $ 7,500,000.0   $ 7,500,000.0
Revolving Credit Facility | 2013 Loan and Security Agreement | Prime Rate        
Debt Instrument [Line Items]        
Debt instrument, basis spread (as a percentage)   0.50%    
Term Loan | 2013 Loan and Security Agreement        
Debt Instrument [Line Items]        
Amount borrowed under agreement $ 5,000,000.0      
Term Loan | 2013 Loan and Security Agreement | Prime Rate        
Debt Instrument [Line Items]        
Debt instrument, basis spread (as a percentage) 1.50%