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Stockholders' Equity - Equity Incentive Plans (Details) - shares
12 Months Ended
Dec. 31, 2016
Jan. 01, 2017
Jan. 01, 2016
2004 Equity Incentive Plan | Employee Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award      
Award vesting period 4 years    
Award expiration period 10 years    
Expiration period, after termination of employment or relationship of consultant or director 90 days    
2004 Equity Incentive Plan | Employee Stock Options | Tranche One      
Share-based Compensation Arrangement by Share-based Payment Award      
Award vesting period 12 months    
Award vesting, percentage of award 25.00%    
2004 Equity Incentive Plan | Employee Stock Options | Tranche Two      
Share-based Compensation Arrangement by Share-based Payment Award      
Award vesting period 36 months    
Award vesting, percentage of award 75.00%    
2014 Equity Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award      
Automatic annual increase in common stock reserved for issuance, percentage 5.00%    
Shares of common stock reserved for future issuance, additional shares     2,558,231
2014 Equity Incentive Plan | Subsequent Event      
Share-based Compensation Arrangement by Share-based Payment Award      
Shares of common stock reserved for future issuance, additional shares   2,668,150  
2014 Equity Incentive Plan | Employee Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award      
Award expiration period 10 years    
2014 Equity Incentive Plan | Common Stock      
Share-based Compensation Arrangement by Share-based Payment Award      
Number of shares authorized for issuance 5,300,000    
Shares available for future grant under the plan 6,094,657    
2014 Equity Incentive Plan | Restricted Stock Units | Minimum [Member]      
Share-based Compensation Arrangement by Share-based Payment Award      
Award vesting period 1 year    
2014 Equity Incentive Plan | Restricted Stock Units | Maximum [Member]      
Share-based Compensation Arrangement by Share-based Payment Award      
Award vesting period 4 years