Annual report pursuant to Section 13 and 15(d)

Collaborative Arrangements - Porton (Details)

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Collaborative Arrangements - Porton (Details) - USD ($)
1 Months Ended 3 Months Ended 12 Months Ended
Apr. 30, 2018
Dec. 31, 2018
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]          
Contract liabilities, deferred revenue     $ 4,791,000 $ 2,044,000  
Sales revenue, goods     69,056,000 68,458,000 $ 60,594,000
Porton          
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]          
Contract liabilities, deferred revenue     100,000 0  
Collaboration payment     1,000,000.0 1,000,000.0  
Liability, revenue recognized   $ 2,800,000      
Sales revenue, goods     $ 1,100,000 $ 0 $ 0
Porton | Milestone One          
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]          
Contract liabilities, deferred revenue $ 500,000        
Number of days for payment 30 days        
Porton | Milestone Two          
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]          
Contingent receivable $ 500,000        
Porton | Milestone Three          
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]          
Contingent receivable $ 1,000,000.0