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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2017
Mar. 31, 2016
Dec. 31, 2016
Dec. 31, 2012
Feb. 28, 2003
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Options outstanding (in shares) 4,743,518   3,838,060    
Weighted-average exercise price of stock options outstanding (in dollars per share) $ 19.64   $ 18.93    
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]          
Total stock-based compensation expense $ 3,461 $ 3,001      
2003 Stock Incentive Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation, number of shares authorized (in shares)       4,336,730 2,051,644
Options outstanding (in shares) 1,084,302        
Weighted-average exercise price of stock options outstanding (in dollars per share) $ 1.89        
Stock Incentive Plan 2013          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation, number of shares authorized (in shares) 6,769,888        
Potential annual increase in shares reserved for future issuance (in shares) 1,960,168        
Potential annual increase in shares reserved for future issuance as percentage of outstanding share 4.00%        
Options outstanding (in shares) 3,659,216        
Weighted-average exercise price of stock options outstanding (in dollars per share) $ 24.90        
Research and Development          
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]          
Stock-based compensation expense $ 1,673 1,396      
General and Administrative          
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]          
Stock-based compensation expense $ 1,788 $ 1,605