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Consolidated Statements of Shareholders' Equity - USD ($)
$ in Thousands
Total
Equity Offering
Private Placement
At the Market Offering
Common Stock
Common Stock
Equity Offering
Common Stock
Private Placement
Common Stock
At the Market Offering
Accumulated Other Comprehensive Income (Loss)
Accumulated Deficit
Beginning balance at Dec. 31, 2018 $ 49,390       $ 428,903       $ 15 $ (379,528)
Beginning balance, shares at Dec. 31, 2018         36,937,458          
Increase (Decrease) in Shareholders' Equity [Roll Forward]                    
Stock issued under employee equity incentive plans 570       $ 570          
Stock issued under employee equity incentive plans, shares         1,497,030          
Stock-based compensation expense 6,649       $ 6,649          
Unrealized gain (loss) on available-for-sale securities 3       0       3  
Net loss (9,077)                 (9,077)
Foreign pension adjustment, net of tax (6)               (6)  
Ending balance at Dec. 31, 2019 47,529       $ 436,122       12 (388,605)
Ending balance, shares at Dec. 31, 2019         38,434,488          
Increase (Decrease) in Shareholders' Equity [Roll Forward]                    
Stock issued under employee equity incentive plans 600       $ 600          
Stock issued under employee equity incentive plans, shares         2,061,988          
Equity offering   $ 12,743 $ 6,210 $ 4,429   $ 12,743 $ 6,210 $ 4,429    
Equity offering, shares           5,635,000 3,200,000 1,747,466    
Stock-based compensation expense 7,853       $ 7,853          
Unrealized gain (loss) on available-for-sale securities (3)               (3)  
Net loss (26,529)                 (26,529)
Foreign pension adjustment, net of tax 38               38  
Ending balance at Dec. 31, 2020 $ 52,870       $ 467,957       $ 47 $ (415,134)
Ending balance, shares at Dec. 31, 2020         51,078,942