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Consolidated Statements of Cash Flows - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Cash flows from operating activities:      
Net loss $ (11,860) $ (25,838) $ (37,786)
Adjustments to reconcile net loss to net cash used in operating activities:      
Depreciation and amortization 8,390 7,388 6,463
Provision for doubtful accounts 75 171 76
Stock-based compensation 9,643 7,730 6,753
Loss (gain) on disposal of property and equipment 1 10 1
Amortization of debt discount and issuance costs 241 350 293
Changes in fair value of convertible preferred and common stock warrant liabilities 0 0 (1,745)
Loss on extinguishment of debt 1,026 0 0
Reversal of accrued federal fees (3,114) 0 0
Accretion of interest 20 0 0
Others (11) 36 (7)
Changes in operating assets and liabilities:      
Accounts receivable (3,389) (2,410) (1,390)
Prepaid expenses and other current assets (859) (224) (216)
Other assets 203 (312) (128)
Accounts payable 811 (1,610) 300
Accrued and other current liabilities 2,262 426 1,863
Accrued federal fees and sales tax liability (182) 441 440
Deferred revenue 3,680 1,038 1,012
Other liabilities (99) (135) (208)
Net cash provided by (used in) operating activities 6,838 (12,939) (24,279)
Cash flows from investing activities:      
Purchases of property and equipment (1,131) (1,116) (1,025)
Purchases of convertible notes held for investment (1,206) 0 0
Decrease (increase) in restricted cash (60) 806 (25)
Purchase of short-term investments 0 (20,000) (49,992)
Proceeds from maturity of short-term investments 0 40,000 30,000
Net cash provided by (used in) investing activities (2,397) 19,690 (21,042)
Cash flows from financing activities:      
Net proceeds from IPO, net of payments for offering costs 0 0 71,459
Proceeds from exercise of common stock options and warrants 4,286 1,266 1,212
Proceeds from sale of common stock under ESPP 1,979 1,369 660
Proceeds from notes payable 0 0 19,536
Repayments of notes payable (24,351) (3,447) (1,556)
Payments of capital leases (6,237) (5,744) (5,449)
Payment of prepayment penalty and related fees (368) 0 0
Payments for debt issuance costs (206) 0 0
Proceeds from revolving line of credit 32,594 0 0
Repayments on revolving line of credit (12,500) 0 0
Net cash provided by (used in) financing activities (4,803) (6,556) 85,862
Net increase in cash and cash equivalents (362) 195 40,541
Cash and cash equivalents:      
Beginning of period 58,484 58,289 17,748
End of period 58,122 58,484 58,289
Supplemental disclosures of cash flow data:      
Cash paid for interest 4,234 4,340 3,869
Cash paid for income taxes 115 186 46
Non-cash investing and financing activities:      
Equipment obtained under capital lease 8,202 6,284 5,886
Equipment purchased and unpaid at period-end 163 151 11
Reclass of deferred IPO costs to additional paid-in capital 0 0 2,179
Net cashless exercise of preferred stock warrants to Series A-2 convertible preferred stock 0 0 509
Vesting of early exercised stock options 0 0 200
Reclass of warrants liabilities to additional paid-in capital upon IPO 0 0 2,647
Conversion of convertible preferred stock to common stock upon IPO 0 0 54,243
Conversion of accrued federal fees to note payable, net $ 0 $ 1,675 $ 0