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Income Taxes - Textual (Details) - USD ($)
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Income Taxes [Line Items]      
Net deferred tax assets $ 194,000 $ 155,000  
Provision for (benefit from) income taxes 535,000 581,000 $ (14,000)
Increase (decrease) In valuation allowance 9,700,000 5,400,000  
Excess tax benefits of stock option deductions included in valuation allowance 100,000 100,000  
Research and development credits 27,654,000 25,052,000  
Undistributed earnings of foreign subsidiaries 2,300,000    
Unrecognized tax benefits 16,597,000 15,421,000 $ 14,382,000
Accrued interest or penalties for uncertain income tax 0    
US Federal      
Income Taxes [Line Items]      
Operating loss carryforward 552,700,000    
Deduction related to excess tax benefits from stock options which are not included in net operating loss carryforward 37,800,000 37,600,000  
Research and development credits 22,000,000    
State      
Income Taxes [Line Items]      
Operating loss carryforward 122,100,000    
Deduction related to excess tax benefits from stock options which are not included in net operating loss carryforward 34,200,000 $ 34,000,000  
California State      
Income Taxes [Line Items]      
Research and development credits 25,300,000    
Other State      
Income Taxes [Line Items]      
Research and development credits $ 2,200,000