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Description of Business and Basis of Preparation (Details)
 12 Months Ended
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