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Borrowings (Details) - USD ($)
Sep. 30, 2016
Dec. 31, 2016
Dec. 31, 2015
Debt Instrument [Line Items]      
Number of warrants issued to purchase common stock (in shares)   14,033 14,033
Warrants Associated with Loan Agreement      
Debt Instrument [Line Items]      
Number of warrants issued to purchase common stock (in shares) 122,435    
Exercise price of warrants (in dollars per share) $ 3.6754    
Warrants issued, expiration period (in years) 5 years    
Secured Debt | Term Loan      
Debt Instrument [Line Items]      
Loan agreement term 48 months    
Term loan, face amount $ 15,000,000    
Cash proceeds limit $ 20,000,000    
Amortization period, extension (in months) 6 months    
Future principal debt payments on the currently outstanding Term Loan      
2017 $ 0    
2018 4,500,000    
2019 6,000,000    
2020 4,500,000    
Total principal payments 15,000,000    
Final fee due at maturity 750,000    
Total principal and final fee payment 15,750,000    
Unamortized discount and debt issuance costs (1,498,000)    
Less current portion 0    
Loan payable, long term $ 14,252,000    
Secured Debt | Term Loan | LIBOR      
Debt Instrument [Line Items]      
Basis spread on variable rate (as a percent) 8.49%