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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2015
Stockholders' Equity Note [Abstract]  
Summary of preferred stock authorized, issued and outstanding
 
 
 
 
 
Outstanding as of
December 31,
 
Authorized
 
Issued
 
2015
 
2014
Series A Preferred Stock, par $0.001
1,000

 
817

 
—

 
—

Series B Preferred Stock, par $0.001
1,000

 
750

 
—

 
—

Series C Preferred Stock, par $0.001
1,091

 
1,091

 
23

 
23

Series D Preferred Stock, par $0.001
1,966,292

 
1,966,292

 
—

 
—
Summary of warrants outstanding
The following table summarizes the warrants outstanding as of December 31, 2015 and 2014:
 
 
 
 
 
 
 
As of December 31, 2015
 
As of December 31, 2014
Issued in Connection With:
 
Exercise
Price
 
Expiration
Date
 
Number of
Warrants
 
Common Stock
Warrant Liability
 
Number of
Warrants
 
Common Stock
Warrant Liability
March 2013 financing
 
$
3.17

 
September 12, 2018
 
284,091

 
$
1,301,138

 
284,091

 
$
2,022,729

Warrants assumed in June 2009 Merger
 
$ 4.08 - 5.12

 
April 28, 2016
 
276,813

 
—

 
727,969

 
—

Total
 
 
 
 
 
560,904

 
$
1,301,138

 
1,012,060

 
$
2,022,729
Schedule of shares authorized under stock option plans, by exercise price range
The following table summarizes total stock options outstanding at December 31, 2015:
 
 
 
Options Outstanding
 
Options Exercisable
Exercise Price
 
Options
Outstanding
 
Weighted-Average
Remaining
Contractual Life
(in Years)
 
Weighted
Average
Exercise Price
 
Options
Exercisable
 
Weighted-Average
Exercise Price
$0.00-$3.00
 
1,269,241

 
6.5
 
$
2.24

 
1,111,045

 
$
2.3

$3.01-$6.00
 
1,525,015

 
2.4
 
$
4.84

 
1,521,109

 
$
4.8

$6.01-$9.00
 
2,080,183

 
7.4
 
$
7.38

 
1,021,290

 
$
7.1

$9.01-$12.00
 
180,464

 
5.5
 
$
10.31

 
127,599

 
$
10.3

$12.01-$15.00
 
807,461

 
7.3
 
$
12.93

 
455,590

 
$
12.9

 
 
5,862,364

 
5.9
 
$
6.46

 
4,236,633

 
$
5.7
Schedule of stock options, activity
Stock option activity under our stock option plans was as follows: 
 
Number of
Shares
 
Weighted-Average
Exercise Price
Balance, December 31, 2014
4,840,514

 
$
6.19

Granted
1,337,260

 
7.61

Exercised
(125,258
)
 
4.40

Cancelled
(190,152
)
 
9.82

Balance, December 31, 2015
5,862,364

 
$
6.46