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Stock-Based Compensation - Summary of Option and RSU Activity (Details) - $ / shares
 1 Months Ended 12 Months Ended
Aug. 23, 2016
Jan. 01, 2016
Jun. 30, 2014
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Shares Available for Grant              
Options granted (in shares) (334,027)            
Number of Shares              
Options cancelled and expired (in shares) (456,995)            
Weighted Average Exercise Prices              
Weighted-average exercise price (in dollars per share) $ 7.20            
Equity Incentive Plan2010 [Member]              
Shares Available for Grant              
Additional shares authorized   50,000          
Inducement Stock Options              
Shares Available for Grant              
Options expired (in shares)         (7,000) (129,000)  
Number of Shares              
Balance at the beginning of the period (in shares)   164,000   164,000 223,000 318,000  
Options granted (in shares)           41,000  
Options cancelled (in shares)       (164,000)      
Options exercised (in shares)         (52,000) (7,000)  
Options expired (in shares)         (7,000) (129,000)  
Balance at the end of the period (in shares)         164,000 223,000  
Weighted Average Exercise Prices              
Weighted-average exercise price (in dollars per share)         $ 43.74 $ 36.78 $ 44.23
Options granted (in dollars per share)           36.80  
Options exercised (in dollars per share)         15.48 25.87  
Options expired (in dollars per share)         $ 31.79 $ 55.75  
Options cancelled (in dollars per share)       $ 43.74      
Options | Mosy Plans [Member]              
Shares Available for Grant              
Balance at the beginning of the year (in shares)   106,000   106,000 176,000 42,000  
Restricted stock units granted (in shares)       (144,000)   (50,000)  
Restricted stock units cancelled (in shares)       7,000 2,000    
Options granted (in shares)       (384,000) (154,000) (17,000)  
Options cancelled (in shares)       479,000 70,000 49,000  
Options expired (in shares)         (38,000) (48,000)  
Balance at the end of the year (in shares)       114,000 106,000 176,000  
Number of Shares              
Balance at the beginning of the period (in shares)   675,000   675,000 599,000 672,000  
Options granted (in shares)       384,000 154,000 17,000  
Options cancelled (in shares)       (479,000) (70,000) (49,000)  
Options cancelled and expired (in shares)       (58,000)      
Options exercised (in shares)         (8,000) (41,000)  
Options expired (in shares)         (38,000) (48,000)  
Balance at the end of the period (in shares)       522,000 675,000 599,000  
Weighted Average Exercise Prices              
Weighted-average exercise price (in dollars per share)       $ 13.88 $ 35.14 $ 38.73 $ 38.64
Options granted (in dollars per share)       (6.96) 20.22 35.34  
Options exercised (in dollars per share)         16.37 30.64  
Options expired (in dollars per share)       44.80 32.00 43.20  
Options cancelled (in dollars per share)       $ 35.64 $ 35.23 $ 43.08  
Options | Equity Incentive Plan2010 [Member]              
Shares Available for Grant              
Additional shares authorized     150,000 50,000 50,000 200,000