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Description of Business and Basis of Preparation (Details) |  |  |  |  |  |  |  | 12 Months Ended |
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Sep. 30, 2016 USD ($) | Jun. 21, 2016 USD ($) $ / shares shares | Oct. 30, 2015 USD ($) | Apr. 28, 2015 USD ($) $ / shares shares | May 07, 2014 USD ($) $ / shares shares | Apr. 25, 2014 | Mar. 17, 2014 | Dec. 31, 2016 USD ($) shares | Dec. 31, 2015 USD ($) shares | Dec. 31, 2014 USD ($) | Jul. 31, 2006 $ / shares shares
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of shares of common stock sold (in shares) | shares |  |  |  | 5,376,622 | 6,200,000 |  |  | 10,696,456 | 5,376,622 |  |
Public offering price (in dollars per share) | $ / shares |  |  |  | $ 7.70 | $ 10.00 |  |  |  |  |  |
Net proceeds from initial public offering (IPO) (shares) |  |  |  |  | $ 54,583,000 |  |  |  |  |  |
Underwriting discounts and commissions |  |  |  |  | 3,290,000 |  |  |  |  |  |
Offering expenses |  |  |  |  | $ 4,127,000 |  |  |  |  |  |
Number of outstanding shares of convertible preferred stock converted into common stock (in shares) | shares |  |  |  |  | 1,691,884 |  |  |  |  |  |
Outstanding warrants exercised (in shares) | shares |  |  |  |  | 275,687 |  |  |  |  |  |
Proceeds from follow-on offering |  |  |  | $ 38,012,000 |  |  |  |  |  |  |
Payments of stock issuance costs |  |  |  | $ 3,388,000 |  |  |  |  |  |  |
Number of warrants issued to purchase common stock (in shares) | shares |  |  |  |  |  |  |  | 14,033 | 14,033 |  |
Issuance of common stock from Shelf Registration, net of underwriting discounts and commissions and offering expenses (Note 1) |  |  |  |  |  |  |  | $ 21,386,000 | $ 38,012,000 | $ 54,583,000 |
Secured Debt | Term Loan |  |  |  |  |  |  |  |  |  |  |
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items] |  |  |  |  |  |  |  |  |  |  |
Loan agreement term | 48 months |  |  |  |  |  |  |  |  |  |
Term loan, face amount | $ 15,000,000 |  |  |  |  |  |  |  |  |  |
June 2016 Public Offering |  |  |  |  |  |  |  |  |  |  |
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of shares of common stock sold (in shares) | shares |  | 9,375,000 |  |  |  |  |  |  |  |  |
Public offering price (in dollars per share) | $ / shares |  | $ 2.40 |  |  |  |  |  |  |  |  |
Payments of stock issuance costs |  | $ 1,746,000 |  |  |  |  |  |  |  |  |
Number of warrants issued to purchase common stock (in shares) | shares |  | 4,218,750 |  |  |  |  |  |  |  |  |
Exercise price of warrants (in dollars per share) | $ / shares |  | $ 3.00 |  |  |  |  |  |  |  |  |
Issuance of common stock from Shelf Registration, net of underwriting discounts and commissions and offering expenses (Note 1) |  | $ 20,754,000 |  |  |  |  |  |  |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |  |
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items] |  |  |  |  |  |  |  |  |  |  |
Maximum aggregate offering price |  |  | $ 150,000,000 |  |  |  |  |  |  |  |
Number of warrants issued to purchase common stock (in shares) | shares |  |  |  |  |  |  |  |  |  |  | 14,033
Exercise price of warrants (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 45.61
Reverse stock split ratio |  |  |  |  |  | 0.1961 | 0.250 |  |  |  |
Common Stock | Sales Agreement Prospectus |  |  |  |  |  |  |  |  |  |  |
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items] |  |  |  |  |  |  |  |  |  |  |
Maximum aggregate offering price |  |  | $ 40,000,000 |  |  |  |  |  |  |  |
2013 Credit Agreement |  |  |  |  |  |  |  |  |  |  |
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items] |  |  |  |  |  |  |  |  |  |  |
Repayment of debt |  |  |  |  | $ 15,000,000 |  |  |  |  |  |

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