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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended
May 31, 2017
Jun. 30, 2018
Jun. 30, 2017
Jun. 30, 2018
Jun. 30, 2017
Dec. 31, 2017
Dec. 31, 2012
Feb. 28, 2003
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Options outstanding (in shares)   5,367,754   5,367,754   4,504,642    
Weighted-average exercise price of stock options outstanding (in dollars per share)   $ 21.94   $ 21.94   $ 19.79    
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                
Total stock-based compensation expense   $ 4,163 $ 3,602 $ 7,595 $ 7,063      
2016 Employee Stock Purchase Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based compensation, number of shares authorized (in shares) 800,000              
Payroll deduction discount 10.00%              
Purchase price of common stock percent of the fair market value 85.00%              
Common stock purchased (in shares)       20,231        
Proceeds from ESPP       $ 500        
2003 Stock Incentive Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based compensation, number of shares authorized (in shares)             4,336,730 2,051,644
Options outstanding (in shares)   840,281   840,281        
Weighted-average exercise price of stock options outstanding (in dollars per share)   $ 1.92   $ 1.92        
Stock Incentive Plan 2013                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based compensation, number of shares authorized (in shares)   8,244,131   8,244,131        
Potential annual increase in shares reserved for future issuance (in shares)   1,960,168   1,960,168        
Potential annual increase in shares reserved for future issuance as percentage of outstanding share       4.00%        
Options outstanding (in shares)   4,527,473   4,527,473        
Weighted-average exercise price of stock options outstanding (in dollars per share)   $ 25.66   $ 25.66        
Research and Development                
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                
Stock-based compensation expense   $ 1,989 1,833 $ 3,689 3,506      
General and Administrative                
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                
Stock-based compensation expense   $ 2,174 $ 1,769 $ 3,906 $ 3,557