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Other Financial Information - Accrued liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2019 | Dec. 31, 2018
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Other Financial Information [Abstract] |  |
Accrued payroll and related expenses | $ 2,362 | $ 2,111
Accrued deferred offering costs | 0 | 355
Accrued interest | 145 | 178
Accrued purchases of goods and services | 319 | 243
Accrued royalties | 727 | 602
Accrued clinical study activity | 40 | 146
Capital lease obligations, current portion | 238 | 81
Other accrued liabilities | 588 | 207
Accrued liabilities | $ 4,419 | $ 3,923

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