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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