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Income Taxes - Reconciliation (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Tax credit carryforwards      
Undistributed earnings of foreign subsidiaries $ 900    
Reconciliation of income taxes provided at the federal statutory rate (35%) to actual income tax provision (benefit)      
Federal statutory rate 35.00%    
Income tax benefit computed at U.S. statutory rate $ (10,989) $ (11,401) $ (8,653)
State income tax (net of federal benefit) 3 3 2
Foreign income tax at rate different from U.S. statutory rate (15) (12) (11)
Research and development credits (1,580) (1,614) (1,196)
Stock-based compensation 123 130 91
Amortization of intangible assets (100) (100) (100)
Valuation allowance changes affecting tax provision 12,588 13,027 9,915
Other 56 74 23
Income tax provision 86 107 71
Domestic and foreign components of income (loss) before income tax provision (benefit)      
U.S. (31,580) (32,735) (24,906)
Non-U.S. 183 160 183
Loss before income taxes (31,397) $ (32,575) $ (24,723)
Federal      
Tax credit carryforwards      
Foreign tax credit carryforward that began expiring in 2016 900    
Research and development | Federal      
Tax credit carryforwards      
Tax credit carryforwards with expiration 8,200    
Research and development | State      
Tax credit carryforwards      
Tax credit carryforwards without expiration $ 7,200