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Other Financial Information - Accrued and other current liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2020
Dec. 31, 2019
Other Financial Information [Abstract]    
Accrued payroll and related expenses $ 3,818 $ 2,362
Accrued interest 142 145
Accrued purchases of goods and services 542 319
Accrued royalties 178 727
Accrued clinical study activity 139 40
Capital lease obligations, current portion 272 238
Other accrued liabilities 729 588
Accrued and other current liabilities $ 5,820 $ 4,419