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Collaboration and Other Agreements, Boehringer (Details) - Boehringer Ingelheim GmbH (Boehringer)
 1 Months Ended 12 Months Ended
Oct. 31, 2010
USD ($)
Payment
Dec. 31, 2016
USD ($)
Dec. 31, 2015
USD ($)
Dec. 31, 2014
USD ($)
Collaboration and Other Agreements [Line Items]        
Nonrefundable upfront payment $ 15,000,000      
Number of annual maintenance payments received | Payment 3      
Clinical milestone payments $ 34,000,000      
Additional potential regulatory milestone payments under agreement 88,500,000      
Additional potential sales milestone payments under agreement $ 82,500,000      
Recognized revenue under agreement   $ 0 $ 12,500,000 $ 13,700,000
Milestone payment     5,000,000 $ 2,000,000
Deferred revenue   $ 0 $ 0