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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