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Liquidity (Details) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 05, 2017
Sep. 01, 2017
May 31, 2017
Apr. 11, 2017
Jun. 16, 2016
Sep. 30, 2017
Sep. 30, 2016
Sep. 30, 2017
Sep. 30, 2016
Dec. 31, 2016
Jun. 15, 2016
May 11, 2016
May 10, 2016
Dec. 31, 2015
Liquidity [Line Items]                            
Net loss           $ 4,807,000 $ 5,384,000 $ 18,399,000 $ 17,127,000          
Accumulated deficit           397,462,000   397,462,000   $ 379,063,000        
Net cash used in operating activities               13,904,000 15,372,000          
Cash and cash equivalents           4,783,000 $ 14,924,000 4,783,000 14,924,000 $ 12,560,000       $ 14,338,000
Minimum cash/cash equivalents covenant           $ 1,500,000   $ 1,500,000            
Common stock issued (in shares)         6,704,852                  
Common stock, par value (in dollars per share)           $ 0.001   $ 0.001   $ 0.001        
Proceeds from sale of common stock, net               $ 12,377,000 $ 17,702,000          
Each unit consist of number of warrant         3,352,306                  
Number of shares callable by warrants (in shares)                     1 1,100,000 16,000,000  
Warrant exercise price (in dollars per share)                     $ 3.06      
Proceeds from issuance warrants         $ 17,100,000                  
Common Stock [Member]                            
Liquidity [Line Items]                            
Common stock issued (in shares)         6,704,852                  
Share issued, price per share       $ 1.10                    
Each unit consist of number of warrant               0.5            
Number of shares callable by warrants (in shares)           1   1            
Warrant exercise price (in dollars per share)           $ 3.06   $ 3.06            
Common Stock [Member] | Maxim Group LLC [Member]                            
Liquidity [Line Items]                            
Common stock issued (in shares)     849,000 8,600,000                    
Common stock, par value (in dollars per share)       $ 0.001                    
Share issued, price per share     $ 1.10 $ 1.0395                    
Proceeds from sale of common stock, net     $ 800,000 $ 8,700,000                    
Closing of offering date       Apr. 17, 2017                    
Number of days granted as option to purchase additional shares of common stock to underwriter       45 days                    
Additional shares of common stock       944,000                    
Nasdaq Stock Market LLC [Member]                            
Liquidity [Line Items]                            
Number of consecutive business days no longer able to meet the required closing bid price of common stock 30 days                          
Minimum bid price of common stock required for Nasdaq listing rule $ 1                          
Grace period provided with minimum bid price for Nasdaq listing rule 180 days                          
Grace date for minimum bid price requirement for Nasdaq listing Mar. 05, 2018                          
Common stock minimum bid price required to regain compliance $ 1                          
Number of consecutive business days required to regain compliance 10 days                          
Additional grace period provided with minimum bid price to regain compliance 180 days                          
Nasdaq Stock Market LLC [Member] | Corporate Restructuring [Member]                            
Liquidity [Line Items]                            
Workforce reduction, percentage   50.00%                        
Minimum [Member]                            
Liquidity [Line Items]                            
Unrestricted cash and cash equivalents           $ 1,500,000   $ 1,500,000