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Collaboration and Other Agreements, Green Cross (Details) - USD ($)
 1 Months Ended 12 Months Ended
Jun. 30, 2010
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Collaboration and Other Agreements [Line Items]        
Deferred revenue included in current liabilities   $ 4,261,000 $ 5,866,000  
Deferred revenue included in long-term liabilities   10,045,000 12,631,000  
Green Cross        
Collaboration and Other Agreements [Line Items]        
Nonrefundable upfront payment $ 1,000,000      
Adjustment to revenue from contract material modification       $ 1,300,000
Proceeds from research and development services   5,500,000    
Recognized revenue under agreement   800,000 500,000 1,700,000
Milestone achieved   0 0 $ 0
Deferred revenue   3,200,000 2,000,000  
Deferred revenue included in current liabilities   900,000 400,000  
Deferred revenue included in long-term liabilities   $ 2,300,000 $ 1,600,000  
Green Cross | Maximum        
Collaboration and Other Agreements [Line Items]        
Aggregate potential future cost reimbursement 5,500,000.0      
Clinical and commercial milestone payments $ 2,500,000.0