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Stockholders' Equity (Tables)
12 Months Ended
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Summary of Stock Option and Restricted Stock Award Activity The following summary of stock option and restricted stock award activity, excluding 2014 IN, for the periods presented is as follows:
 
 
Number of Shares Available for Grant
 
Number of Shares Underlying Outstanding Options
 
Weighted Average Exercise Price Per Share
 
Weighted Average Remaining Contractual Life (in Years)
 
Aggregate Intrinsic Value
 
 
 
 
 
 
 
 
 
 
(In thousands)
Balance as of December 31, 2015
 
273,948

 
2,381,486

 
$
18.36

 
 
 
 
Additional shares reserved
 
1,131,538

 

 

 
 
 
 
Options granted
 
(839,800
)
 
839,800

 
16.72

 
 
 
 
Restricted stock awards granted
 
(299,900
)
 
299,900

 

 
 
 
 
Options exercised
 

 
(131,752
)
 
10.67

 
 
 
 
Options cancelled/forfeited
 
320,084

 
(320,084
)
 
21.77

 
 
 
 
Restricted stock awards forfeited
 
80,333

 
(80,333
)
 

 
 
 
 
Restricted stock awards released
 

 
(124,344
)
 

 
 
 
 
Shares cancelled/retired under 2002/2012 plans
 

 
(38,829
)
 
8.92

 
 
 
 
Net settlement of restricted stock awards for employee taxes
 
23,289

 

 

 
 
 
 
Balance as of December 31, 2016
 
689,492

 
2,825,844

 
17.92

 
 
 
 
Additional shares reserved
 
1,145,958

 

 

 
 
 
 
Options granted
 
(925,525
)
 
925,525

 
21.65

 
 
 
 
Restricted stock awards granted
 
(340,525
)
 
340,525

 

 
 
 
 
Options exercised
 

 
(309,341
)
 
12.88

 
 
 
 
Options cancelled/forfeited
 
230,734

 
(230,734
)
 
22.81

 
 
 
 
Restricted stock awards forfeited
 
81,905

 
(81,905
)
 

 
 
 
 
Restricted stock awards released
 

 
(117,218
)
 

 
 
 
 
Shares cancelled/retired under 2002/2012 plans
 

 
(696
)
 
8.94

 
 
 
 
Net settlement of restricted stock awards for employee taxes
 
21,010

 

 

 
 
 
 
Balance as of December 31, 2017
 
903,049

 
3,352,000

 
19.29

 
 
 
 
Additional shares reserved
 
1,460,643

 

 

 
 
 
 
Options granted
 
(926,650
)
 
926,650

 
28.67

 
 
 
 
Restricted stock awards granted
 
(339,500
)
 
339,500

 

 
 
 
 
Options exercised
 

 
(293,100
)
 
15.45

 
 
 
 
Options cancelled/forfeited
 
423,096

 
(423,096
)
 
25.66

 
 
 
 
Restricted stock awards forfeited
 
101,218

 
(101,218
)
 

 
 
 
 
Restricted stock awards released
 

 
(198,213
)
 

 
 
 
 
Net settlement of restricted stock awards for employee taxes
 
59,904

 

 

 
 
 
 
Balance as of December 31, 2018
 
1,681,760

 
3,602,523

 
$
21.63

 
7.13
 
$
8,071

Exercisable as of December 31, 2018
 
 
 
1,853,452

 
$
19.47

 
6.11
 
$
7,274

Schedule of Stock Options and Restricted Stock Exercise Price Range The following table summarizes information with respect to stock options outstanding and currently exercisable as of December 31, 2018:
 
Options Outstanding
 
Options Exercisable
Exercise Price
Number of Options
 
Weighted-Average Remaining Contractual Life
(In Years)
 
$0.45 - 9.15
430,333

 
4.41
 
430,333

$13.35 - 16.23
406,389

 
6.44
 
335,718

$16.3 - 18.37
423,042

 
7.16
 
298,893

$18.7 - 19.7
391,547

 
8.09
 
180,069

$19.91 - 24.96
442,443

 
8.48
 
167,039

$25.3 - 29.15
656,654

 
8.52
 
176,065

$29.4 - 32.22
587,175

 
6.88
 
360,415

$32.25 - 34.08
51,000

 
8.53
 
9,399

$35.95 - 35.95
10,500

 
8.94
 
2,625

$36.32 - 36.32
206,250

 
6.95
 
154,687

 
3,605,333

 
 
 
2,115,243

Nonvested Restricted Stock Shares Activity The following table summarizes information with respect to restricted stock awards outstanding as of December 31, 2018:
 
Number of Awards Available for Grant
 
Weighted-Average Grant-Date Fair Value
 
Aggregate Intrinsic Value
 
 
 
 
 
(In thousands)
Outstanding as of December 31, 2015
315,600

 
$
25.67

 

Granted
314,900

 
17.16

 

Vested
(133,938
)
 
26.41

 

Forfeited
(80,333
)
 
20.35

 

Outstanding as of December 31, 2016
416,229

 
20.02

 

Granted
435,525

 
22.08

 

Vested
(130,562
)
 
23.25

 

Forfeited
(81,905
)
 
19.32

 

Outstanding as of December 31, 2017
639,287

 
20.86

 

Granted
373,500

 
28.37

 

Vested
(235,307
)
 
20.25

 

Forfeited
(172,468
)
 
24.83

 

Outstanding as of December 31, 2018
605,012

 
$
24.61

 
$
14,888

Schedule of Stock-based Compensation Expense Stock-based compensation expense related to options and awards for employees and non-employees and shares purchased under the 2014 ESPP by employees, was allocated as follows:
(in thousands)
Year Ended December 31,
2018
 
2017
 
2016
Research and development
$
7,480

 
$
5,902

 
$
5,557

General and administrative
8,793

 
7,328

 
6,396

Total stock-based compensation expense
$
16,273

 
$
13,230

 
$
11,953

Schedule of Reserved Shares of Common Stock The Company had reserved shares of common stock, on an as if converted basis, for issuance as follows:
 
 
December 31, 2018
Issuances under stock incentive plans
 
1,681,760

Issuances upon exercise of common stock warrants
 
34,113

Issuances under employee stock purchase plan
 
1,178,940

Issuances under inducement plan
 
157,861

Total
 
3,052,674

Employee Stock Option  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Fair Value Assumptions The fair value of the employee and non-employee director stock options was estimated using the Black-Scholes option-pricing model with the following weighted-average assumptions:
 
Year Ended December 31,
 
2018
 
2017
 
2016
Expected term (in years)
6.0

 
6.0

 
6.0

Expected volatility
60.2
%
 
67.7
%
 
61.9
%
Risk-free interest rate
2.7
%
 
2.1
%
 
1.4
%
Expected dividend rate
%
 
%
 
%
Non-employee Stock Options  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Fair Value Assumptions
 
Year Ended December 31,
 
2018
 
2017
 
2016
Expected term (in years)
5.5

 
8.9

 
7.3

Expected volatility
59.4
%
 
67.9
%
 
68.9
%
Risk-free interest rate
2.8
%
 
2.3
%
 
1.7
%
Expected dividend rate
%
 
%
 
%
Employee Stock Purchase Plan  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of Stock-based Compensation Expense The fair value of the option component of the shares purchased under the 2014 ESPP was estimated using the Black-Scholes option-pricing model with the following weighted-average assumptions:
 
Year Ended December 31,
 
2018
 
2017
 
2016
Expected term (in years)
0.5

 
0.5

 
0.5

Expected volatility
50.9
%
 
59.2
%
 
72.0
%
Risk-free interest rate
1.9
%
 
0.9
%
 
0.4
%
Expected dividend rate
%
 
%
 
%
2014 Inducement Plan  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Summary of Stock Option and Restricted Stock Award Activity The following table summarizes the stock option activity for the 2014 IN is as follows:
 
 
Number of Shares Available for Grant
 
Number of Shares Underlying Outstanding Options and Awards
 
Weighted Average Exercise Price Per Share
 
Weighted Average Remaining Contractual Life (in Years)
 
Aggregate Intrinsic Value
 
 
 
 
 
 
 
 
 
 
(In thousands)
Balance as of December 31, 2015
 
449,889

 
354,219

 
$
31.46

 
 
 
 
Options granted
 
(110,000
)
 
110,000

 
18.37

 
 
 
 
Restricted stock awards granted
 
(15,000
)
 
15,000

 

 
 
 
 
Option forfeitures
 
88,594

 
(88,594
)
 
22.97

 
 
 
 
Restricted stock awards released
 

 
(9,594
)
 

 
 
 
 
Net settlement of restricted stock awards for employee taxes
 
3,604

 

 

 
 
 
 
Balance as of December 31, 2016
 
417,087

 
381,031

 
29.43

 
 
 
 
Options granted
 
(35,000
)
 
35,000

 
24.40

 
 
 
 
Restricted stock awards granted
 
(95,000
)
 
95,000

 

 
 
 
 
Restricted stock awards released
 

 
(13,344
)
 

 
 
 
 
Net settlement of restricted stock awards for employee taxes
 
5,009

 

 

 
 
 
 
Balance as of December 31, 2017
 
292,096

 
497,687

 
28.96

 
 
 
 
Options granted
 
(210,000
)
 
210,000

 
26.71

 
 
 
 
Restricted stock awards granted
 
(34,000
)
 
34,000

 

 
 
 
 
Option forfeitures
 
25,521

 
(25,521
)
 
24.40

 
 
 
 
Restricted stock award forfeitures
 
71,250

 
(71,250
)
 

 
 
 
 
Restricted stock awards released
 

 
(37,094
)
 

 
 
 
 
Net settlement of restricted stock awards for employee taxes
 
12,994

 

 

 
 
 
 
Balance as of December 31, 2018
 
157,861

 
607,822

 
$
28.32

 
7.82
 
$
194

Exercisable as of December 31, 2018
 
 
 
261,791

 
$
29.34

 
6.67
 
$
133