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Collaboration and Other Agreements - Les Laboratoires Servier (Details) - USD ($)
 1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2012
Sep. 30, 2017
Sep. 30, 2016
Sep. 30, 2017
Sep. 30, 2016
Dec. 31, 2014
Dec. 31, 2016
Collaboration And Other Agreements [Line Items]              
Deferred revenue included in current liabilities   $ 3,202,000   $ 3,202,000     $ 4,261,000
Deferred revenue included in long-term liabilities   8,438,000   $ 8,438,000     10,045,000
Servier | Servier DART              
Collaboration And Other Agreements [Line Items]              
Non-refundable upfront payment $ 20,000,000            
Original period of development       29 months      
Expected period of development       75 months      
Change in accounting estimate current year impact       $ 800,000   $ 3,700,000  
Option exercise fee           $ 15,000,000  
Original Option Exercise Fee Recognition Period           82 months  
Option exercise fee recognition period       124 months      
Offset to research and development costs under the collaboration agreement   600,000 $ 1,000,000 $ 1,500,000 $ 2,100,000    
Revenue recognized under agreement   600,000 $ 800,000 2,000,000 $ 2,500,000    
Deferred revenue   9,100,000   9,100,000     11,100,000
Deferred revenue included in current liabilities   2,300,000   2,300,000     3,300,000
Deferred revenue included in long-term liabilities   6,800,000   6,800,000     $ 7,800,000
Servier | Servier DART | Maximum              
Collaboration And Other Agreements [Line Items]              
Potential license fee   40,000,000   40,000,000      
Potential clinical milestone payments   63,000,000   63,000,000      
Potential regulatory milestone payments under agreement   188,000,000   188,000,000      
Potential sales milestone payments under agreement   $ 420,000,000   $ 420,000,000