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Common Stock Warrants - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Jan. 30, 2014
Jun. 30, 2011
Warrants And Rights Note Disclosure [Abstract]          
Fair value of warrants     $ 3,400 $ 6,700 $ 200
Revaluation of convertible preferred stock warrant liability $ 0 $ 3,324 $ 2,901