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Organization and Operations - Additional Information (Details)
 3 Months Ended 12 Months Ended
Dec. 22, 2016
USD ($)
Jun. 16, 2016
USD ($)
shares
May 10, 2016
shares
Dec. 31, 2016
USD ($)
$ / shares
shares
Sep. 30, 2016
USD ($)
Jun. 30, 2016
USD ($)
Mar. 31, 2016
USD ($)
Dec. 31, 2015
USD ($)
shares
Sep. 30, 2015
USD ($)
Jun. 30, 2015
USD ($)
Mar. 31, 2015
USD ($)
Dec. 31, 2016
USD ($)
Subsidiary
$ / shares
shares
Dec. 31, 2015
USD ($)
shares
Jun. 15, 2016
$ / shares
shares
May 11, 2016
shares
Dec. 31, 2014
USD ($)
shares
Basis Of Presentation And New Accounting Standards [Line Items]                                
Number of wholly-owned subsidiaries | Subsidiary                       5        
Reverse stock split of common stock     15                          
Common stock, shares outstanding (in shares) | shares     200,000,000 21,707,890       13,003,893       21,707,890 13,003,893   13,300,000  
Number of shares callable by warrants (in shares) | shares     16,000,000                     1 1,100,000  
Common stock, shares authorized (in shares) | shares     290,000,000 75,000,000       75,000,000       75,000,000 75,000,000   75,000,000  
Net loss       $ 4,918,000 $ 5,384,000 $ 6,405,000 $ 5,339,000 $ 2,756,000 $ (1,520,000) $ (4,449,000) $ 21,957,000 $ 22,046,000 $ 18,744,000      
Accumulated deficit       379,063,000       357,017,000       379,063,000 357,017,000      
Net cash used in operating activities                       19,533,000 20,468,000      
Cash and cash equivalents       12,560,000       $ 14,338,000       12,560,000 14,338,000     $ 14,622,000
Payments of principal amount in monthly installments                       600,000        
Minimum cash/cash equivalents covenant       $ 5,000,000               5,000,000        
Common stock issued (in shares) | shares   6,704,852                            
Each unit consist of number of warrant | shares   3,352,306                            
Warrant exercise price (in dollars per share) | $ / shares                           $ 3.06    
Proceeds from issuance warrants   $ 17,100,000                            
Common stock issued, value                       $ 19,478,000 $ 10,701,000      
Common Stock [Member]                                
Basis Of Presentation And New Accounting Standards [Line Items]                                
Common stock, shares outstanding (in shares) | shares       21,707,890       13,003,893       21,707,890 13,003,893     6,623,225
Number of shares callable by warrants (in shares) | shares       1               1        
Common stock issued (in shares) | shares   6,704,852                   8,673,253 2,560,711      
Each unit consist of number of warrant | shares                       0.5        
Warrant exercise price (in dollars per share) | $ / shares       $ 3.06               $ 3.06        
Common stock issued, value                       $ 9,000 $ 2,000      
Period exercisable from the date of issuance                       30 months        
Common Stock [Member] | Lincoln Park Capital Fund, LLC [Member]                                
Basis Of Presentation And New Accounting Standards [Line Items]                                
Common stock issued, value $ 20,000,000                              
Period exercisable from the date of issuance 30 months                              
Minimum [Member]                                
Basis Of Presentation And New Accounting Standards [Line Items]                                
Unrestricted cash and cash equivalents       $ 5,000,000               $ 5,000,000        
2014 Equity Incentive Plan [Member]                                
Basis Of Presentation And New Accounting Standards [Line Items]                                
Number of shares callable by warrants (in shares) | shares     6,500,000                       400,000