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Revenue from Contracts with Customers (ASC 606) - Impact of New Revenue Guidance on Financial Statement (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 12 Months Ended |  |
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Dec. 31, 2018 | Sep. 30, 2018 | Jun. 30, 2018 | Mar. 31, 2018 | Dec. 31, 2017 | Sep. 30, 2017 | Jun. 30, 2017 | Mar. 31, 2017 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016 | Jan. 01, 2018 | Dec. 31, 2015
Balance Sheet |  |  |  |  |  |  |  |  |  |  |  |  |
Cash, cash equivalent and marketable securities | $ 18,075 |  |  |  |  |  |  |  | $ 18,075 |  |  | $ 42,915 |
Accounts receivable, net | 29,663 |  |  |  | $ 28,316 |  |  |  | 29,663 | $ 28,316 |  | 28,316 |
Inventories | 22,942 |  |  |  | 22,732 |  |  |  | 22,942 | 22,732 |  | 22,732 |
Prepaid expenses and other current assets | 3,494 |  |  |  | 3,816 |  |  |  | 3,494 | 3,816 |  | 3,816 |
Long-lived assets | 95,979 |  |  |  |  |  |  |  | 95,979 |  |  | 92,513 |
Other non-current assets | 6,736 |  |  |  | 5,927 |  |  |  | 6,736 | 5,927 |  | 5,927 |
Contract assets, long-term | 6,971 |  |  |  | 0 |  |  |  | 6,971 | 0 |  | 5,963 |
Non-current deferred income tax asset | 226 |  |  |  | 20 |  |  |  | 226 | 20 |  | 222 |
Total assets | 187,652 |  |  |  | 196,239 |  |  |  | 187,652 | 196,239 |  | 205,609 |
Accounts payable, accrued expenses, and other current liabilities | 46,817 |  |  |  |  |  |  |  | 46,817 |  |  | 36,430 |
Deferred revenue, current | 0 |  |  |  | 6,919 |  |  |  | 0 | 6,919 |  | 0 |
Contract liabilities | 9,193 |  |  |  | 0 |  |  |  | 9,193 | 0 |  | 11,039 |
Long-term contract liabilities | 9,070 |  |  |  | 0 |  |  |  | 9,070 | 0 |  | 7,998 |
Other long-term liabilities | 3,620 |  |  |  |  |  |  |  | 3,620 |  |  | 2,653 |
Long-term debt, excluding current portion | 19,437 |  |  |  | 44,572 |  |  |  | 19,437 | 44,572 |  | 44,572 |
Total liabilities | 88,137 |  |  |  | 90,574 |  |  |  | 88,137 | 90,574 |  | 102,692 |
Accumulated deficit | (15,397) |  |  |  | (4,417) |  |  |  | (15,397) | (4,417) |  | (7,165) |
Common stock, additional paid-in capital, and accumulated other comprehensive loss | 114,912 |  |  |  |  |  |  |  | 114,912 |  |  | 110,082 |
Total stockholders’ equity | 99,515 |  |  |  | 105,665 |  |  |  | 99,515 | 105,665 | $ 106,502 | 102,917 | $ 118,176
Total liabilities and stockholders’ equity | 187,652 |  |  |  | 196,239 |  |  |  | 187,652 | 196,239 |  | 205,609 |
Consolidated Statement of Operations |  |  |  |  |  |  |  |  |  |  |  |  |
Net sales |  |  |  |  |  |  |  |  | 170,761 | 160,088 | 176,122 |  |
Research and development |  |  |  |  |  |  |  |  | 14,951 | 15,858 | 16,030 |  |
Sales, marketing and support |  |  |  |  |  |  |  |  | 34,910 | 33,896 | 33,942 |  |
General and administrative |  |  |  |  |  |  |  |  | 27,964 | 28,932 | 28,172 |  |
Total costs and expenses |  |  |  |  |  |  |  |  | 177,925 | 168,852 | 177,444 |  |
Loss from operations | (1,877) | $ (920) | $ (1,187) | $ (3,180) | (1,125) | $ (1,801) | $ (1,368) | $ (4,470) | (7,164) | (8,764) | (1,322) |  |
Other income (expense), net |  |  |  |  |  |  |  |  | (503) | (1,174) | (648) |  |
Loss before income tax expense |  |  |  |  |  |  |  |  | (7,667) | (9,938) | (1,970) |  |
Income tax expense |  |  |  |  |  |  |  |  | 565 | 1,096 | 5,547 |  |
Net loss | (1,822) | (1,174) | (1,343) | (3,893) | (1,685) | (2,438) | (2,026) | (4,885) | $ (8,232) | (11,034) | (7,517) |  |
Net loss per common share, basic and diluted (in dollars per share) |  |  |  |  |  |  |  |  | $ (0.48) |  |  |  |
Statement of Cash Flows |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (1,822) | $ (1,174) | $ (1,343) | $ (3,893) | (1,685) | $ (2,438) | $ (2,026) | $ (4,885) | $ (8,232) | (11,034) | (7,517) |  |
Non-cash adjustments to reconcile net loss to net cash used in operating activities |  |  |  |  |  |  |  |  | 15,694 |  |  |  |
Accounts receivable and inventories |  |  |  |  |  |  |  |  | (2,357) |  |  |  |
Prepaid expenses, other assets, and contract assets |  |  |  |  |  |  |  |  | (2,340) |  |  |  |
Deferred revenue, contract liabilities, and long-term contract liabilities |  |  |  |  |  |  |  |  | (498) | (138) | 1,474 |  |
Accounts payable, accrued compensation, warranty, other, and other long-term liabilities |  |  |  |  |  |  |  |  | 2,917 |  |  |  |
Net cash provided by operating activities |  |  |  |  |  |  |  |  | 5,184 | 11,527 | 18,699 |  |
Current contract assets | 3,566 |  |  |  | 0 |  |  |  | 3,566 | 0 |  | 3,205 |
Non-current contract assets | 6,971 |  |  |  | 0 |  |  |  | 6,971 | 0 |  | 5,963 |
Contract liabilities | 9,193 |  |  |  | 0 |  |  |  | 9,193 | 0 |  | 11,039 |
Long-term contract liabilities | 9,070 |  |  |  | 0 |  |  |  | 9,070 | 0 |  | $ 7,998 |
Pro forma as if the previous accounting guidance had been in effect |  |  |  |  |  |  |  |  |  |  |  |  |
Balance Sheet |  |  |  |  |  |  |  |  |  |  |  |  |
Cash, cash equivalent and marketable securities | 18,075 |  |  |  | 42,915 |  |  |  | 18,075 | 42,915 |  |  |
Accounts receivable, net | 29,663 |  |  |  | 28,316 |  |  |  | 29,663 | 28,316 |  |  |
Inventories | 22,942 |  |  |  | 22,732 |  |  |  | 22,942 | 22,732 |  |  |
Prepaid expenses and other current assets | 3,494 |  |  |  | 3,816 |  |  |  | 3,494 | 3,816 |  |  |
Long-lived assets | 95,979 |  |  |  | 92,513 |  |  |  | 95,979 | 92,513 |  |  |
Other non-current assets | 6,736 |  |  |  | 5,927 |  |  |  | 6,736 | 5,927 |  |  |
Contract assets, long-term | 0 |  |  |  | 0 |  |  |  | 0 | 0 |  |  |
Non-current deferred income tax asset | 86 |  |  |  | 20 |  |  |  | 86 | 20 |  |  |
Total assets | 176,975 |  |  |  | 196,239 |  |  |  | 176,975 | 196,239 |  |  |
Accounts payable, accrued expenses, and other current liabilities | 46,817 |  |  |  | 36,430 |  |  |  | 46,817 | 36,430 |  |  |
Deferred revenue, current | 4,833 |  |  |  | 6,919 |  |  |  | 4,833 | 6,919 |  |  |
Contract liabilities | 0 |  |  |  | 0 |  |  |  | 0 | 0 |  |  |
Long-term contract liabilities | 0 |  |  |  | 0 |  |  |  | 0 | 0 |  |  |
Other long-term liabilities | 3,620 |  |  |  | 2,653 |  |  |  | 3,620 | 2,653 |  |  |
Long-term debt, excluding current portion | 19,437 |  |  |  | 44,572 |  |  |  | 19,437 | 44,572 |  |  |
Total liabilities | 74,707 |  |  |  | 90,574 |  |  |  | 74,707 | 90,574 |  |  |
Accumulated deficit | (12,644) |  |  |  | (4,417) |  |  |  | (12,644) | (4,417) |  |  |
Common stock, additional paid-in capital, and accumulated other comprehensive loss | 114,912 |  |  |  | 110,082 |  |  |  | 114,912 | 110,082 |  |  |
Total stockholders’ equity | 102,268 |  |  |  | 105,665 |  |  |  | 102,268 | 105,665 |  |  |
Total liabilities and stockholders’ equity | 176,975 |  |  |  | 196,239 |  |  |  | 176,975 | 196,239 |  |  |
Consolidated Statement of Operations |  |  |  |  |  |  |  |  |  |  |  |  |
Net sales |  |  |  |  |  |  |  |  | 172,072 |  |  |  |
Research and development |  |  |  |  |  |  |  |  | 14,951 |  |  |  |
Sales, marketing and support |  |  |  |  |  |  |  |  | 35,022 |  |  |  |
General and administrative |  |  |  |  |  |  |  |  | 27,964 |  |  |  |
Total costs and expenses |  |  |  |  |  |  |  |  | 179,294 |  |  |  |
Loss from operations |  |  |  |  |  |  |  |  | (7,222) |  |  |  |
Other income (expense), net |  |  |  |  |  |  |  |  | (503) |  |  |  |
Loss before income tax expense |  |  |  |  |  |  |  |  | (7,725) |  |  |  |
Income tax expense |  |  |  |  |  |  |  |  | 502 |  |  |  |
Net loss |  |  |  |  |  |  |  |  | $ (8,227) |  |  |  |
Net loss per common share, basic and diluted (in dollars per share) |  |  |  |  |  |  |  |  | $ (0.48) |  |  |  |
Statement of Cash Flows |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss |  |  |  |  |  |  |  |  | $ (8,227) |  |  |  |
Non-cash adjustments to reconcile net loss to net cash used in operating activities |  |  |  |  |  |  |  |  | 15,631 |  |  |  |
Accounts receivable and inventories |  |  |  |  |  |  |  |  | (2,357) |  |  |  |
Prepaid expenses, other assets, and contract assets |  |  |  |  |  |  |  |  | (971) |  |  |  |
Deferred revenue, contract liabilities, and long-term contract liabilities |  |  |  |  |  |  |  |  | (1,809) |  |  |  |
Accounts payable, accrued compensation, warranty, other, and other long-term liabilities |  |  |  |  |  |  |  |  | 2,917 |  |  |  |
Net cash provided by operating activities |  |  |  |  |  |  |  |  | 5,184 |  |  |  |
Current contract assets | 0 |  |  |  | 0 |  |  |  | 0 | 0 |  |  |
Non-current contract assets | 0 |  |  |  | 0 |  |  |  | 0 | 0 |  |  |
Contract liabilities | 0 |  |  |  | 0 |  |  |  | 0 | 0 |  |  |
Long-term contract liabilities | $ 0 |  |  |  | $ 0 |  |  |  | 0 | 0 |  |  |
Product |  |  |  |  |  |  |  |  |  |  |  |  |
Consolidated Statement of Operations |  |  |  |  |  |  |  |  |  |  |  |  |
Net sales |  |  |  |  |  |  |  |  | 63,277 | 56,968 | 73,075 |  |
Cost of product and service sales |  |  |  |  |  |  |  |  | 39,510 | 37,474 | 46,334 |  |
Product | Pro forma as if the previous accounting guidance had been in effect |  |  |  |  |  |  |  |  |  |  |  |  |
Consolidated Statement of Operations |  |  |  |  |  |  |  |  |  |  |  |  |
Net sales |  |  |  |  |  |  |  |  | 64,588 |  |  |  |
Cost of product and service sales |  |  |  |  |  |  |  |  | 40,767 |  |  |  |
Service |  |  |  |  |  |  |  |  |  |  |  |  |
Consolidated Statement of Operations |  |  |  |  |  |  |  |  |  |  |  |  |
Net sales |  |  |  |  |  |  |  |  | 107,484 | 103,120 | 103,047 |  |
Cost of product and service sales |  |  |  |  |  |  |  |  | 60,590 | $ 52,692 | $ 52,966 |  |
Service | Pro forma as if the previous accounting guidance had been in effect |  |  |  |  |  |  |  |  |  |  |  |  |
Consolidated Statement of Operations |  |  |  |  |  |  |  |  |  |  |  |  |
Net sales |  |  |  |  |  |  |  |  | 107,484 |  |  |  |
Cost of product and service sales |  |  |  |  |  |  |  |  | $ 60,590 |  |  |  |

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