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Collaboration and Other Agreements, Servier (Details) - USD ($)
 1 Months Ended 12 Months Ended
Sep. 30, 2012
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Collaboration and Other Agreements [Line Items]          
Deferred revenue included in current liabilities   $ 7,202,000 $ 4,261,000    
Deferred revenue included in long-term liabilities   13,637,000 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
Option exercise fee recognition period   124 months     82 months
Offset to research and development costs under collaboration arrangement   $ 3,200,000 2,600,000 $ 500,000  
Recognized revenue under agreement   2,500,000 3,300,000 $ 3,500,000  
Deferred revenue   8,500,000 11,100,000    
Deferred revenue included in current liabilities   2,300,000 3,300,000    
Deferred revenue included in long-term liabilities   $ 6,200,000 $ 7,800,000    
Servier | Maximum | Servier DART          
Collaboration and Other Agreements [Line Items]          
Potential License Fee $ 40,000,000        
Potential clinical milestone payments under agreement 63,000,000        
Potential regulatory milestone payments under agreement 188,000,000        
Potential sales milestone payments under agreement $ 420,000,000