Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details)

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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2017
Jun. 30, 2016
Jun. 30, 2017
Jun. 30, 2016
Stock-based compensation expense by type of award:        
Stock-based compensation expense $ 2,216 $ 2,156 $ 4,107 $ 3,451
Stock Option Plan Awards        
Stock-based compensation expense by type of award:        
Stock-based compensation expense 2,055 2,001 3,799 3,205
Restricted Stock Units        
Stock-based compensation expense by type of award:        
Stock-based compensation expense 24   48  
Employee Stock Purchase Plan        
Stock-based compensation expense by type of award:        
Stock-based compensation expense $ 137 $ 155 $ 260 $ 246