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Summary of Significant Accounting Policies - Stock-Based Compensation (Details) - Stock Options
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Employees and Directors      
Summary of assumptions used to estimate the fair value of stock options      
Risk-free interest rate 0.99% 1.47% 0.41%
Expected volatility 74.00% 109.00% 111.00%
Expected life in years 5 years 5 years 4 years
Dividend yield 0.00% 0.00% 0.00%
Forfeiture rate 7.00% 8.00% 8.00%
Non Employee      
Summary of assumptions used to estimate the fair value of stock options      
Risk-free interest rate (minimum) 2.14% 1.52% 0.84%
Risk-free interest rate (maximum) 2.31% 2.73% 1.52%
Dividend yield 0.00% 0.00% 0.00%
Non Employee | Minimum      
Summary of assumptions used to estimate the fair value of stock options      
Expected volatility 105.00% 104.00% 102.00%
Expected life in years 7 years 7 years 7 years
Non Employee | Maximum      
Summary of assumptions used to estimate the fair value of stock options      
Expected volatility 108.00% 115.00% 113.00%
Expected life in years 10 years 10 years 10 years