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Employee Benefit Plans and Stock-based Compensation (Details) - shares
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
May 31, 2015
May 31, 2013
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Expected term 4 years 3 years 10 months 24 days 4 years 1 month 6 days    
1997 Stock Option Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares authorized for issuance (in shares) 5,423,583        
Terms of award 10 years        
Number of shares available for grant (in shares) 1,928,994        
1997 Stock Option Plan | Options [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period, minimum 4 years        
Vesting percentage as the end of first year (as a percent) 25.00%        
Vesting percentage per month after first year (as a percent) 2.10%        
1997 Stock Option Plan | Restricted Stock Awards [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period if vesting is based on a performance measure 5 years        
2007 Equity Incentive Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares authorized for issuance (in shares) 1,300,000       2,000,000
Terms of award 10 years        
2007 Equity Incentive Plan | Options [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period, minimum 3 years        
2007 Equity Incentive Plan | Restricted Stock Awards [Member] | Time based vesting [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period, minimum 3 years        
2007 Equity Incentive Plan | Restricted Stock Awards [Member] | Performance Based Vesting [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period, minimum 12 months        
2015 Equity Incentive Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares authorized for issuance (in shares)       2,000,000  
Number of shares available for grant (in shares)       1,804,869  
Expected term 10 years        
2015 Equity Incentive Plan | Options [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period, minimum 4 years        
Number of shares available for grant (in shares) 2,785,000        
2015 Equity Incentive Plan | Options [Member] | Consultant [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period, minimum 1 year        
2015 Equity Incentive Plan | Restricted Stock Awards [Member] | Time based vesting [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period, minimum   3 years      
2015 Equity Incentive Plan | Restricted Stock Awards [Member] | Performance Based Vesting [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period, minimum 12 months