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Stockholders' Equity (Details 3)
 12 Months Ended
Dec. 31, 2016
$ / shares
shares
Number of Shares  
Beginning Balance (shares) | shares 5,862,364
Granted (shares) | shares 1,705,169
Exercised (shares) | shares (631,065)
Cancelled (shares) | shares (130,285)
Ending Balance (shares) | shares 6,806,183
Weighted-Average Exercise Price  
Beginning Balance ($ per share) | $ / shares $ 6.46
Granted ($ per share) | $ / shares 7.47
Exercised ($ per share) | $ / shares 4.96
Cancelled ($ per share) | $ / shares 8.66
Ending Balance ($ per share) | $ / shares $ 6.81