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Other Financial Information - Accrued liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2019
Dec. 31, 2018
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