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Consolidated Statements of Cash Flows - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Cash flows from operating activities:    
Net loss $ (26,529) $ (9,077)
Adjustments to reconcile net loss to net cash used in operating activities:    
Stock-based compensation 7,853 6,649
Depreciation and amortization 3,737 3,837
Amortization of acquired intangible assets 1,496 1,504
Gain on loan extinguishment (796) 0
Reversal of uncertain tax positions (88) (124)
Deferred income tax expense 26 45
Accretion on short-term marketable securities (4) (94)
Gain on sale of marketable securities (4) 0
Gain on sale of patents 0 (3,905)
Inventory step-up and backlog amortization 0 12
Other 9 (3)
Changes in operating assets and liabilities:    
Accounts receivable, net 6,243 (3,933)
Inventories 2,956 (2,459)
Prepaid expenses and other current and long-term assets, net 3,295 2,172
Accounts payable 166 (1,304)
Accrued current and long-term liabilities (2,361) (3,686)
Income taxes payable 290 (14)
Net cash used in operating activities (3,711) (10,380)
Cash flows from investing activities:    
Proceeds from sales and maturities of marketable securities 8,229 10,050
Purchases of property and equipment (2,637) (2,629)
Purchases of available-for-sale marketable securities (1,500) (10,856)
Purchases of licensed technology (152) (521)
Proceeds from sale of patents 0 4,250
Payment associated with sale of patents 0 (345)
Net cash used in (provided by) investing activities 3,940 (51)
Cash flows from financing activities:    
Net proceeds from equity offering 12,743 0
Net proceeds from private placement investment 6,210 0
Net proceeds from "at the market" equity offering 4,429 0
Payments on asset financings (1,007) (826)
Proceeds from Paycheck Protection Program loan 796 0
Proceeds from issuances of common stock under employee equity incentive plans 600 570
Net cash provided by (used in) financing activities 23,771 (256)
Net increase (decrease) in cash and cash equivalents 24,000 (10,687)
Cash and cash equivalents, beginning of period 7,257 17,944
Cash and cash equivalents, end of period 31,257 7,257
Supplemental disclosure of cash flow information:    
Cash paid for income taxes, net of refunds received 397 547
Cash paid during the year for interest 217 142
Non-cash investing and financing activities:    
Gain on loan extinguishment (796) 0
Acquisitions of property and equipment and other assets under extended payment terms $ 1,495 $ 934