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Payment Arrangement, Option, Activity [Table Text Block] Convertible Preferred Stock and Stockholders' Equity Stockholders' Equity Note Disclosure [Text Block] Schedule of Potentially Antidilutive Shares Excluded from the Calculation of Diluted Net Loss Per Share Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block] Statement of Cash Flows [Abstract] Class of Stock [Line Items] Class of Stock [Line Items] Net cash used in investing activities Net Cash Provided by (Used in) Investing Activities Changes in operating assets and liabilities: Increase (Decrease) in Operating Capital [Abstract] Less accumulated depreciation Accumulated Depreciation, Depletion and Amortization, Property, Plant, and Equipment Shares issued pursuant to the employee stock purchase plan Stock Issued During Period, Value, Employee Stock Purchase Plan Schedule of Prepaid Expenses and Other Current Assets Deferred Costs, Capitalized, Prepaid, and Other Assets 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