Balance Sheet Details - Schedule of Property, Plant and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 24,163	$ 22,957
Less: accumulated depreciation and amortization	(15,973)	(15,445)
Less: government grants	(310)	(366)
Total property, plant and equipment, net	7,880	7,146
Machinery and equipment
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	13,863	13,656
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	4,993	4,633
Computers and software
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	2,835	2,829
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	1,538	1,123
Other
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 934	$ 716