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Long-Term Debt and Other Financings - Interest Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Interest expense |  |  |
Interest expense | $ 434 | $ 461 | $ 1,484
Silicon Valley Bank [Member] |  |  |
Interest expense |  |  |
Interest expense | 334 | 373 | 1,073
Novartis Note [Member] |  |  |
Interest expense |  |  |
Interest expense | $ 100 | $ 88 | 409
Other [Member] |  |  |
Interest expense |  |  |
Interest expense |  |  | $ 2

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