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Income Taxes - Schedule of Effective Income Tax Amount Reconciliation (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	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
Income Tax Disclosure [Abstract]
U.S. federal tax at statutory rate									$ (4,014)	$ (8,764)	$ (12,818)
U.S. state income taxes									490	(756)	(1,098)
Non-deductible expenses									931	438	420
Research and development credit									(262)	(440)	(455)
Stock-based compensation									983	737	746
Other									(104)	481	(72)
Change in valuation allowance									2,030	8,365	13,362
Total provision for income taxes	$ (14)	$ (2)	$ 42	$ 28	$ 13	$ 50	$ (20)	$ 18	$ 54	$ 61	$ 85

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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