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Stockholders' Equity - Summary of Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Number of Options      
Outstanding at beginning of period (in shares) 602,207 459,271 286,188
Granted (in shares) 167,819 340,500 326,250
Canceled (in shares) (160,126) (147,152) (145,873)
Exercised (in shares) (79,166) (50,412) (7,294)
Outstanding at end of period (in shares) 530,734 602,207 459,271
Vested and expected to vest (in shares) 513,052    
Exercisable (in shares) 389,748    
Weighted Average Exercise Price Per Share      
Outstanding at beginning of period (in dollars per share) $ 8.58 $ 8.95 $ 15.30
Granted (in dollars per share) 7.31 8.65 4.76
Canceled (in dollars per share) 12.94 10.10 12.38
Exercised (in dollars per share) 4.48 4.69 2.30
Outstanding at end of period (in dollars per share) 7.48 $ 8.58 $ 8.95
Vested and expected to vest (in dollars per share) 7.50    
Exercisable (in dollars per share) $ 7.75