Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Equity Incentive Plans (Details)

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Stockholders' Equity - Equity Incentive Plans (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Dec. 15, 2016
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Equity Incentive Plans          
Stock-based compensation   $ 978 $ 787 $ 3,271 $ 2,444
Research and development          
Equity Incentive Plans          
Stock-based compensation   279 203 787 616
Selling, general and administrative          
Equity Incentive Plans          
Stock-based compensation   690 $ 584 2,455 $ 1,828
Cost of goods sold          
Equity Incentive Plans          
Stock-based compensation   $ 9   $ 29  
2008 Plan and 2013 Plan          
Equity Incentive Plans          
Authorized (in shares) 500,000        
2008 Plan and 2013 Plan | Maximum          
Equity Incentive Plans          
Term of award       10 years  
Vesting period       4 years