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Shareholders' Equity - Narrative (Details) - USD ($)
 3 Months Ended 9 Months Ended
Jan. 17, 2020
Sep. 30, 2020
Mar. 31, 2019
Sep. 30, 2020
Sep. 30, 2019
Mar. 31, 2020
Shareholders' Equity [Line Items]            
Proceeds from issuance of common stock from at-the-market offering, net of commissions       $ 20,226,000 $ 0  
Equity issuance costs   $ 180,000        
Common Stock            
Shareholders' Equity [Line Items]            
Shares issued (shares)   2,480,000        
Common Stock | 2020 At-the-Market Offering            
Shareholders' Equity [Line Items]            
Maximum aggregate sale proceeds           $ 50,000,000
Shares sold (in shares)   2,500,000        
Gross proceeds from issuance of common stock through at-the-market offering   $ 20,900,000        
Proceeds from issuance of common stock from at-the-market offering, net of commissions   20,100,000        
Commission expense   600,000        
Equity issuance costs   $ 200,000        
Convertible Debt | Common Stock            
Shareholders' Equity [Line Items]            
Proceeds from issuance of common stock from at-the-market offering, net of commissions     $ 133,300,000      
Shares issued (shares)     19,460,260      
InstruNor AS            
Shareholders' Equity [Line Items]            
Total purchase price $ 7,214,000          
Cash consideration paid to former equity holders $ 5,165,000          
Purchase price (shares) 485,451