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Other Financial Information - Accrued liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Other Financial Information [Abstract]    
Accrued payroll and related expenses $ 3,589 $ 2,362
Accrued interest 147 145
Accrued purchases of goods and services 311 319
Accrued royalties 221 727
Accrued clinical study activity 228 40
Capital lease obligations, current portion 308 238
Other accrued liabilities 953 588
Accrued and other current liabilities $ 5,757 $ 4,419