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Stock-Based Compensation - Employee Stock Purchase Plan (Details) - USD ($)
$ in Millions
1 Months Ended 12 Months Ended
Jan. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Common shares issued for ESPP (in shares)   75,974 20,291
ESPP expense   $ 0.3 $ 0.2
Employee Stock Purchase Plan | Common Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Fair market value at grant purchase price (percentage)   85.00%  
Fair market value at grant exercise price (percentage)   85.00%  
Common stock, reserved for future issuance (in shares)   3,000,000  
Employee Stock Purchase Plan | ESPP      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Common stock, shares available for future issuance (in shares)   2,900,000  
Subsequent Event      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Common shares issued for ESPP (in shares) 50,141