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Other Financial Information - Accrued liabilities (Details) - USD ($) $ in Thousands | Mar. 31, 2020 | Dec. 31, 2019
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Other Financial Information [Abstract] |  |
Accrued payroll and related expenses | $ 2,733 | $ 2,362
Accrued interest | 145 | 145
Accrued purchases of goods and services | 282 | 319
Accrued royalties | 407 | 727
Accrued clinical study activity | 50 | 40
Capital lease obligations, current portion | 241 | 238
Other accrued liabilities | 905 | 588
Accrued liabilities | $ 4,763 | $ 4,419

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