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Stock- based Compensation - Stock-Based Compensation Expense (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended 84 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2012
Oct. 31, 2013
Feb. 28, 2003
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, options, outstanding, number (in shares) 4,504,642 3,838,060        
Weighted average exercise price (in dollars per share) $ 19.79 $ 18.93        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]            
Stock-based compensation expense $ 14,744 $ 12,165 $ 7,847      
Equity Incentive Plan 2003            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based compensation, number of shares authorized (in shares)           2,051,644
Increased number of shares authorized (in shares)       4,336,730    
Share-based compensation arrangement by share-based payment award, options, outstanding, number (in shares) 955,296          
Weighted average exercise price (in dollars per share) $ 1.85          
Stock Incentive Plan 2013            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based compensation, number of shares authorized (in shares)         1,960,168  
Increased number of shares authorized (in shares) 6,769,888          
Share-based compensation arrangement by share-based payment award, options, outstanding, number (in shares) 3,549,346          
Weighted average exercise price (in dollars per share) $ 24.62          
Stock reserved for future issuance (in shares) 1,960,168          
Percentage of common stock share outstanding 4.00%          
Research and development            
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]            
Stock-based compensation expense $ 7,388 5,778 3,623      
General and administrative            
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]            
Stock-based compensation expense $ 7,356 $ 6,387 $ 4,224