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Income Taxes - Reconciliation (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Tax credit carryforwards |  |  |
Undistributed earnings of foreign subsidiaries | $ 1,000 |  |
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 | $ (11,229) | $ (10,989) | $ (11,401)
State income tax (net of federal benefit) | 3 | 3 | 3
Foreign income tax at rate different from U.S. statutory rate | (7) | (15) | (12)
Research and development credits | (981) | (1,580) | (1,614)
Stock-based compensation | 75 | 123 | 130
Amortization of intangible assets | (100) | (100) | (100)
Goodwill impairment | 1,856 |  |
Valuation allowance changes affecting tax provision | 10,022 | 12,588 | 13,027
Other | 406 | 56 | 74
Income tax provision | 45 | 86 | 107
Domestic and foreign components of income (loss) before income tax provision (benefit) |  |  |
U.S. | (31,115) | (31,580) | (32,735)
Non-U.S. | (888) | 183 | 160
Loss before income taxes | (32,003) | $ (31,397) | $ (32,575)
Federal |  |  |
Tax credit carryforwards |  |  |
Foreign tax credit carryforward that began expiring in 2016 | 300 |  |
Research and development | Federal |  |  |
Tax credit carryforwards |  |  |
Tax credit carryforwards with expiration | 8,800 |  |
Research and development | State |  |  |
Tax credit carryforwards |  |  |
Tax credit carryforwards without expiration | $ 7,800 |  |

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