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Other Financial Information - Accrued and other current liabilities (Details) - USD ($) $ in Thousands | Mar. 31, 2021 | Dec. 31, 2020
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Other Financial Information [Abstract] |  |
Accrued payroll and related expenses | $ 3,318 | $ 3,589
Accrued interest | 148 | 147
Accrued purchases of goods and services | 493 | 311
Accrued royalties | 188 | 221
Accrued clinical study activity | 286 | 228
Capital lease obligations, current portion | 394 | 308
Other accrued liabilities | 887 | 953
Accrued and other current liabilities | $ 5,714 | $ 5,757

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