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Stockholders' Equity - Equity Incentive Plans (Details) - shares
12 Months Ended
Dec. 31, 2017
Jan. 01, 2018
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    
Number of shares authorized for issuance 5,300,000  
Automatic annual increase in common stock reserved for issuance, percentage 5.00%  
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   2,831,582
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 | Restricted Stock Units | Minimum    
Share-based Compensation Arrangement by Share-based Payment Award    
Award vesting period 1 year  
2014 Equity Incentive Plan | Restricted Stock Units | Maximum    
Share-based Compensation Arrangement by Share-based Payment Award    
Award vesting period 4 years