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Long-Term Debt and Other Financings - General Electric Capital Corporation Term Loan - Additional Information (Details) |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Feb. 27, 2015 USD ($) $ / shares shares | Sep. 27, 2012 USD ($) $ / shares shares | Sep. 30, 2012 USD ($) Installment | Dec. 31, 2011 USD ($) $ / shares shares | Dec. 31, 2015 USD ($) | Dec. 31, 2014 USD ($) | Dec. 31, 2013 USD ($)
Debt Instrument [Line Items] |  |  |  |  |  |  |
Repayment of principal |  |  |  |  | $ 6,128,000 | $ 5,917,000 | $ 3,125,000
Loss on extinguishment of debt |  |  |  |  | (429,000) |  |
GECC Term Loan [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Outstanding principal balance |  |  | $ 3,100,000 | $ 10,000,000 |  | $ 5,200,000 |
Aggregate number of unregistered shares of common stock called by warrants (in shares) | shares |  | 39,346 |  | 263,158 |  |  |
Exercise price of warrants (in dollars per share) | $ / shares |  | $ 3.54 |  | $ 1.14 |  |  |
Exercisable period of warrants |  | 5 years |  | 5 years |  |  |
Warrants expiration period |  | 2017-09 |  | 2016-12 |  |  |
Increase in term loan obligation |  |  | 4,600,000 |  |  |  |
Amended balance of the term loan |  |  | $ 12,500,000 |  |  |  |
Fixed interest rate accrued (in hundredths) |  |  | 10.90% |  |  |  |
Periodic Payment, Principal |  |  | $ 347,222 |  |  |  |
Number of monthly installments | Installment |  |  | 27 |  |  |  |
Debt issuance costs |  |  | $ 200,000 |  |  |  |
Final payment fee |  |  | $ 875,000 | $ 500,000 |  |  |
Estimated fair value of warrants |  | $ 100,000 |  | $ 200,000 |  |  |
Prepayment premium year one (in hundredths) |  |  | 3.00% |  |  |  |
Prepayment premium year two (in hundredths) |  |  | 2.00% |  |  |  |
Prepayment premium year thereafter (in hundredths) |  |  | 1.00% |  |  |  |
Accrued final payment fee |  | $ 200,000 |  |  |  |  |
Repayment of principal | $ 5,500,000 |  |  |  |  |  |
Loss on extinguishment of debt |  |  |  |  | (400,000) |  |
Hercules Loan [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Outstanding principal balance |  |  |  |  | $ 20,000,000 |  |
Aggregate number of unregistered shares of common stock called by warrants (in shares) | shares | 181,268 |  |  |  |  |  |
Exercise price of warrants (in dollars per share) | $ / shares | $ 3.31 |  |  |  |  |  |
Exercisable period of warrants | 5 years |  |  |  |  |  |
Warrants expiration period | 2020-02 |  |  |  |  |  |
Debt issuance costs | $ 500,000 |  |  |  |  |  |
Final payment fee | 1,200,000 |  |  |  |  |  |
Estimated fair value of warrants | 500,000 |  |  |  |  |  |
Proceeds from loans | $ 20,000,000 |  |  |  |  |  |

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