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Other Financial Information - Accrued liabilities (Details) - USD ($)
$ in Thousands
Mar. 31, 2020
Dec. 31, 2019
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