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Equity Incentive Plans (Tables) | 12 Months Ended
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Dec. 31, 2016
Summary of Activity Under 2008 Plan, 2014 Plan and Inducement Plan Including Grants to Nonemployees Issued | The following table summarizes activity under the 2008 Plan, the 2014 Plan, and the Inducement Plan, including grants to nonemployees issued:
|  |  |  |  | Options Issued and Outstanding |  |  |  |
|  | Shares Available for Grant |  |  | Number of Shares |  |  | Weighted-Average Exercise Price per Share |  |  | Aggregate Intrinsic Value |
|  |  |  |  |  |  |  |  |  |  | (in thousands) |
Balance at December 31, 2013 |  |  | 3,914 |  |  |  | 1,162,829 |  |  | $ | 1.03 |  |  |  |  |
Options authorized |  |  | 1,452,661 |  |  |  | — |  |  |  | — |  |  |  |  |
Options granted |  |  | (188,888 | ) |  |  | 188,888 |  |  |  | 24.41 |  |  |  |  |
Options exercised |  |  | — |  |  |  | (336,398 | ) |  |  | 0.71 |  |  |  |  |
Options canceled |  |  | 4,084 |  |  |  | (4,084 | ) |  |  | 2.21 |  |  |  |  |
Options repurchased |  |  | 3,511 |  |  |  | (3,511 | ) |  |  | 0.55 |  |  |  |  |
Issuance of common stock for services |  |  | (10,000 | ) |  |  | — |  |  |  | — |  |  |  |  |
Balance at December 31, 2014 |  |  | 1,265,282 |  |  |  | 1,007,724 |  |  | $ | 5.51 |  |  |  |  |
Options authorized |  |  | 743,569 |  |  |  | — |  |  |  |  |  |  |  |  |
Options granted |  |  | (379,709 | ) |  |  | 379,709 |  |  |  | 19.60 |  |  |  |  |
Options exercised |  |  | — |  |  |  | (77,784 | ) |  |  | 1.42 |  |  |  |  |
Options canceled |  |  | 28,563 |  |  |  | (28,563 | ) |  |  | 12.41 |  |  |  |  |
Issuance of common stock for services |  |  | (13,285 | ) |  |  | — |  |  |  | — |  |  |  |  |
Balance at December 31, 2015 |  |  | 1,644,420 |  |  |  | 1,281,086 |  |  | $ | 9.78 |  |  |  |  |
Options authorized |  |  | 1,038,595 |  |  |  | — |  |  |  |  |  |  |  |  |
Additional shares reserved under the Inducement Plan |  |  | 1,000,000 |  |  |  | — |  |  |  | — |  |  |  |  |
Options granted |  |  | (1,524,014 | ) |  |  | 1,524,014 |  |  |  | 11.42 |  |  |  |  |
Options exercised |  |  | — |  |  |  | (25,134 | ) |  |  | 2.19 |  |  |  |  |
Options canceled |  |  | 67,743 |  |  |  | (67,743 | ) |  |  | 16.67 |  |  |  |  |
Issuance of common stock for services |  |  | (20,118 | ) |  |  | — |  |  |  | — |  |  |  |  |
Balance at December 31, 2016 |  |  | 2,206,626 |  |  |  | 2,712,223 |  |  | $ | 10.60 |  |  | $ | 13,750 |
Vested and expected to vest at December 31, 2016 |  |  |  |  |  |  | 2,640,905 |  |  | $ | 10.54 |  |  | $ | 13,574 |
Vested at December 31, 2016 |  |  |  |  |  |  | 1,263,430 |  |  | $ | 7.58 |  |  | $ | 10,187 |
Summary of Non-vested RSU Activity | A summary of non-vested RSU activity under the Plan for the year ended December 31, 2016 is as follows:
|  | Number of Shares |  |  | Weighted-Average Grant Date Fair Value Per Share |
Non-vested restricted stock units at December 31, 2015 |  |  | 9,425 |  |  | $ | 18.04 |
Granted |  |  | 174,389 |  |  |  | 14.34 |
Vested |  |  | (30,122 | ) |  |  | 16.35 |
Forfieted |  |  | (5,000 | ) |  |  | 18.04 |
Non-vested restricted stock units at December 31, 2016 |  |  | 148,692 |  |  | $ | 14.17 |
Summary of Weighted Average Assumptions to Estimate Fair Value of Stock Option Awards and Employee Stock Purchase Plan | The estimated grant date fair value of employee stock options was calculated using the Black-Scholes option-pricing model, based on the following weighted assumptions:
|  | Year Ended December 31, |
|  | 2016 |  |  | 2015 |  |  | 2014 |
Expected term ( years) |  |  | 5.99 |  |  |  | 5.89 |  |  |  | 5.97 |
Volatility |  |  | 77 | % |  |  | 75 | % |  |  | 94 | %
Risk-free interest rate |  |  | 1.62 | % |  |  | 1.64 | % |  |  | 1.79 | %
Dividend yield |  |  | — | % |  |  | — | % |  |  | — | %
Summary of Stock-Based Compensation Recognized | Total stock-based compensation recognized was as follows (in thousands):
|  | Year Ended December 31, |
|  | 2016 |  |  | 2015 |  |  | 2014 |
|  | (in thousands) |
Research and development |  | $ | 2,786 |  |  | $ | 1,327 |  |  | $ | 1,376 |
General and administrative |  |  | 2,531 |  |  |  | 1,307 |  |  |  | 316 |
Total stock-based compensation |  | $ | 5,317 |  |  | $ | 2,634 |  |  | $ | 1,692 |
2014 Employee Stock Purchase Plan [Member] |
Summary of Weighted Average Assumptions to Estimate Fair Value of Stock Option Awards and Employee Stock Purchase Plan | The following table illustrates the weighted-average assumptions for the Black-Scholes option-pricing model used in determining the fair value of ESPP purchase rights granted to employees:
|  | Year Ended December 31, 2016 |
|  | 2016 |  |  | 2015 |
Expected term ( years) |  |  | 0.5 |  |  |  | 0.5 |
Volatility |  |  | 76 | % |  |  | 97 | %
Risk-free interest rate |  |  | 0.48 | % |  |  | 0.16 | %
Dividend yield |  |  | — | % |  |  | — | %

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