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Other Financial Information - Accrued Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Other Financial Information [Abstract]    
Accrued payroll and related expenses $ 4,048 $ 3,589
Accrued interest 139 147
Accrued purchases of goods and services 510 311
Accrued royalties 180 221
Accrued clinical study activity 254 228
Capital lease obligations, current portion 587 308
Other accrued liabilities 1,108 953
Accrued and other current liabilities $ 6,826 $ 5,757