Annual report pursuant to Section 13 and 15(d)

Revenue Recognition - Performance Obligation (Details)

v3.20.4
Revenue Recognition - Performance Obligation (Details)
$ in Thousands
Dec. 31, 2020
USD ($)
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 4,791
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 1,824
Expected timing of satisfaction, period 1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 67
Expected timing of satisfaction, period 1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 977
Expected timing of satisfaction, period 1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 1,923
Expected timing of satisfaction, period
Product revenue  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 2,488
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 67
Expected timing of satisfaction, period 1 year
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 67
Expected timing of satisfaction, period 1 year
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 431
Expected timing of satisfaction, period 1 year
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 1,923
Expected timing of satisfaction, period
Research and development revenue  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 2,303
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 1,757
Expected timing of satisfaction, period 1 year
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 0
Expected timing of satisfaction, period 1 year
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 546
Expected timing of satisfaction, period 1 year
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01  
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]  
Performance obligation $ 0
Expected timing of satisfaction, period