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Stock Option Plans, Shares Reserved and Warrants (Details) - 2009 Equity Incentive Plan [Member]
6 Months Ended
Jun. 30, 2018
$ / shares
shares
Number of options  
Outstanding options, beginning | shares 6,726,594
Options granted | shares 2,778,289
Options exercised | shares (4,166)
Options canceled | shares (148,474)
Outstanding options, ending | shares 9,352,243
Exercisable options | shares 4,969,386
Weighted average exercise price  
Outstanding options, beginning | $ / shares $ 5.05
Options granted | $ / shares 2.96
Options exercised | $ / shares 3.35
Options canceled | $ / shares 4.87
Outstanding options, ending | $ / shares 4.43
Exercisable options | $ / shares $ 5.20
Weighted average remaining contractual life  
Balance 8 years 2 months 1 day
Options granted 9 years 7 months 28 days
Outstanding Options 8 years 3 months 18 days
Exercisable 7 years 18 days