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Collaboration and Other Agreements, Green Cross (Details) - USD ($)
 1 Months Ended 12 Months Ended
Jun. 30, 2010
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    
Green Cross          
Collaboration and Other Agreements [Line Items]          
Non-refundable 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   900,000 800,000 $ 500,000  
Milestone achieved   0 0 $ 0  
Deferred revenue   2,300,000 3,200,000    
Deferred revenue included in current liabilities   900,000 900,000    
Deferred revenue included in long-term liabilities   $ 1,400,000 $ 2,300,000    
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