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Income Taxes - Effective Tax Rate Reconciliation (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Effective Income Tax Rate Reconciliation, Amount [Abstract]      
Tax (benefit) at statutory federal rate $ (30,352) $ (24,982) $ (21,392)
State Tax (benefit) — net of federal benefit 0 0 79
Nondeductible/nontaxable items 832 224 660
Debt discount 0 0 756
Research and development credits (544) (516) 3,137
Other 11 607 537
Change in valuation allowance 30,053 24,667 16,226
Provision for taxes $ 0 $ 0 $ 3