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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Oct. 31, 2015
Jun. 30, 2012
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Jan. 01, 2017
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance, shares     3,064,876 3,070,718    
Aggregate intrinsic value of options exercised     $ 337,000 $ 417,000 $ 46,000  
Estimated grant date fair value of options vested     2,100,000 186,000 82,000  
Unamortized stock-based compensation     $ 7,500,000 $ 3,300,000 $ 400,000  
Stock option average expected recognition period     2 years 8 months 12 days 3 years 3 months 18 days 3 years  
Unrecognized share based compensation expense     $ 180,000 $ 0    
Weighted average grant date fair value of options granted     $ 7.59 $ 4.00 $ 0.33  
Unvested common shares outstanding     409,839 948,092    
Right of repurchase of shares, lapse rate       25.00%    
Percentage of shares of original grant per month for 36 months thereafter       2.08%    
Accrued liabilities and other long-term liabilities associated with shares issued subject to repurchase rights     $ 253,000 $ 526,000    
Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares reserved for issuance under the option plan, description     An annual increase on January 1 of each year beginning on January 1, 2017      
Stock Options            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance, shares     2,141,868 1,318,647    
2012 Equity Incentive Plan | Incentive Stock Options | Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of estimated fair value of common stock   100.00%        
2012 Equity Incentive Plan | Nonstatutory Stock Options | Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of estimated fair value of common stock   85.00%        
2012 Equity Incentive Plan | Stock Options            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Terms of options granted     10 years      
Vesting period     4 years      
2012 Equity Incentive Plan | Stock Options | Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of estimated fair value of common stock   110.00%        
2012 Equity Incentive Plan | Stock Options | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Employee owning voting rights of stock options   10.00%        
2015 Stock Option and Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance, shares     720,921 1,497,071    
Number of shares reserved for issuance under the option plan, description     (i) the number of shares represented by awards outstanding under the Company’s 2012 Equity Incentive Plan that are forfeited or lapse unexercised and which following the pricing date are not issued under the 2012 Plan, and (ii) an annual increase on January 1 of each year beginning on January 1, 2017.      
2015 Stock Option and Incentive Plan | Subsequent Event            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance, shares           1,257,160
2015 Stock Option and Incentive Plan | IPO            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance, shares 1,650,000          
2015 Equity Incentive Plan | Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of estimated fair value of common stock 85.00%          
Shares reserved for issuance, shares 255,000          
Number of common stock purchased by one employee 2,500          
2015 Equity Incentive Plan | Employee Stock Purchase Plan | Subsequent Event            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance, shares           314,289