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Condensed Consolidated Statements of Cash Flows - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Cash flows from operating activities:    
Net loss $ (20,090) $ (4,621)
Adjustments to reconcile net loss to net cash used in operating activities:    
Stock-based compensation 5,915 4,852
Depreciation and amortization 2,754 2,824
Amortization of acquired intangible assets 1,122 1,130
Reversal of uncertain tax positions (10) (31)
Accretion on short-term marketable securities (6) (77)
Deferred income tax benefit 4 0
Gain on sale of marketable securities (4) 0
Gain on sale of patents 0 (3,905)
Inventory step-up and backlog amortization 0 12
Changes in operating assets and liabilities, net of acquisition:    
Accounts receivable, net 5,498 (1,875)
Inventories 1,506 (191)
Prepaid expenses and other current and long-term assets, net 2,025 1,525
Accounts payable (162) 189
Accrued current and long-term liabilities (1,742) (2,877)
Income taxes payable (41) 93
Net cash used in operating activities (3,231) (2,952)
Cash flows from investing activities:    
Proceeds from sales and maturities of short-term marketable securities 7,748 8,150
Purchases of property and equipment (2,376) (2,232)
Purchases of short-term marketable securities (1,500) (8,679)
Purchases of licensed technology (152) (521)
Proceeds from sale of patents 0 4,250
Payment associated with sale of patents 0 (345)
Net cash provided by investing activities 3,720 623
Cash flows from financing activities:    
Proceeds from line of credit 3,954 0
Net proceeds from "at the market" equity offering 3,641  
Proceeds from Paycheck Protection Program loan 796  
Payments on asset financings (675) (589)
Proceeds from issuance of common stock under employee equity incentive plans 600 570
Net cash provided by (used in) financing activities 8,316 (19)
Net increase (decrease) in cash and cash equivalents 8,805 (2,348)
Cash and cash equivalents, beginning of period 7,257 17,944
Cash and cash equivalents, end of period 16,062 15,596
Supplemental disclosure of cash flow information:    
Cash paid for income taxes, net of refunds received 280 509
Cash paid during the period for interest 172 110
Non-cash investing and financing activities:    
Acquisitions of property and equipment and other assets under extended payment terms $ 1,392 $ 0