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Other Financial Information - Accrued and other current liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Other Financial Information [Abstract]
Accrued payroll and related expenses	$ 3,793	$ 3,589
Accrued interest	145	147
Accrued purchases of goods and services	765	311
Accrued royalties	342	221
Accrued clinical study activity	337	228
Capital lease obligations, current portion	586	308
Other accrued liabilities	616	953
Accrued and other current liabilities	$ 6,584	$ 5,757

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Carrying value as of the balance sheet date of obligations incurred and payable, pertaining to costs that are statutory in nature, are incurred on contractual obligations, or accumulate over time and for which invoices have not yet been received or will not be rendered. Examples include taxes, interest, rent and utilities. Used to reflect the current portion of the liabilities (due within one year or within the normal operating cycle if longer).

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Carrying value as of the balance sheet date of obligations incurred through that date and payable for royalties. Used to reflect the current portion of the liabilities (due within one year or within the normal operating cycle if longer).

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