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Stock Plans and Stock-Based Compensation - Schedule of Assumptions Used in Determining Fair Value of Stock Option Grants (Details) - $ / shares
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Dividend rate 0.00%    
2016 Employee Stock Purchase Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected term (in years) 6 months    
Expected volatility 60.00%    
Dividend rate 0.00%    
Risk-free interest rate 0.45%    
Employee Stock Options      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Fair value of common stock     $ 7.02
Expected volatility, minimum 60.00%   51.70%
Expected volatility   60.00%  
Expected volatility, maximum 70.00%   69.00%
Risk-free interest rate, minimum 1.21% 1.41% 1.63%
Risk-free interest rate, maximum 2.55% 1.94% 2.06%
Dividend rate 0.00% 0.00% 0.00%
Employee Stock Options | Minimum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Fair value of common stock $ 14.21 $ 9.37  
Expected term (in years) 5 years 3 months 15 days 5 years 1 month 2 days 5 years 10 months 21 days
Employee Stock Options | Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Fair value of common stock $ 18.83 $ 13.63  
Expected term (in years) 6 years 1 month 10 days 6 years 1 month 24 days 6 years 1 month 17 days