Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity - Equity Incentive Plans (Details)

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Stockholders' Equity - Equity Incentive Plans (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 15, 2016
Dec. 31, 2020
Dec. 31, 2019
Equity Incentive Plans      
Stock-based compensation   $ 3,284 $ 3,232
Research and Development Expense      
Equity Incentive Plans      
Stock-based compensation   781 825
General and Administrative Expense      
Equity Incentive Plans      
Stock-based compensation   2,497 $ 2,407
Cost of goods sold      
Equity Incentive Plans      
Stock-based compensation   $ 6  
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