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Stock Plans and Stock-Based Compensation - 2008 and 2016 Plan - Additional Information (Details) - shares
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Jul. 15, 2015
May 01, 2012
Sep. 07, 2011
Jun. 30, 2008
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance 4,389,908          
2008 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares authorized for awards of stock options     3,226,271 2,269,749 2,426,087 1,472,261
Stock options vesting period 4 years          
Stock options expiration period 10 years          
Shares available for grant   232,304        
2008 Equity Incentive Plan | Tranche Two | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance 42,934          
2008 Equity Incentive Plan | Tranche Three | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance 1,850,184          
2016 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance 3,893,118          
Automatic increase percentage 3.00%          
Shares available for grant 2,005,483          
2016 Equity Incentive Plan | Tranche One            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance 2,000,000