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Balance Sheet Components (Tables)
 12 Months Ended
Dec. 31, 2019
Balance Sheet Components [Abstract]  
Inventories
Inventories
  
 
December 31,
(in thousands)
 
2019
 
2018
Raw materials
 
$
831

 
$
197

Finished goods
 
3,745

 
4,153

Total inventories
 
$
4,576

 
$
4,350
Property and Equipment
Property and equipment, net
  
 
December 31,
(in thousands)
 
2019
 
2018
Computer equipment and software
 
$
13,596

 
$
10,433

Furniture, fixtures and equipment
 
2,430

 
2,246

Leasehold improvements
 
5,283

 
5,183

Manufacturing tools and equipment
 
2,435

 
2,371

Construction in process
 
582

 
520

Property and equipment, at cost
 
24,326

 
20,753

Less: Accumulated depreciation
 
(15,665
)
 
(13,285
)
Property and equipment, net
 
$
8,661

 
$
7,468

Depreciation and amortization expense for property and equipment for the years ended December 31, 2019, 2018 and 2017 was $3.7 million, $3.2 million and $3.0 million, respectively.
Schedule of net investment in sales type leases [Table Text Block]
The Company has sales-type leases with terms of 3 to 4 years. Sales-type lease receivables are collateralized by the underlying equipment. The components of the net investment in sales-type leases are as follows:
 
December 31,
(in thousands)
2019
 
2018
Minimum payments to be received on sales-type leases
$
2,078

 
$
2,111

Less: Unearned interest income and executory revenue portion
(1,190
)
 
(1,387
)
Net investment in sales-type leases
888

 
724

Less: Current portion
(452
)
 
(427
)
Non-current net investment in sales-type leases
$
436

 
$
297

Sales-type lease activity recognized in the consolidated statement of operations are as follows:
 
Years ended December 31,
(in thousands)
2019
 
2018
 
2017
Lease revenue
$
6,394

 
$
2,697

 
$
2,932

Less: Cost of lease shipments
(1,670
)
 
(212
)
 
(306
)
Gross profit
$
4,724

 
$
2,485

 
$
2,626

 
 
 
 
 
 
Interest income (expense), net on lease receivable
$
(18
)
 
$
(6
)
 
$
9

Initial direct cost incurred
$
277

 
$
140

 
$
167
Future Minimum Lease Payments for sales-type Leases
The minimum lease payments expected for future years under sales-type leases as of December 31, 2019 were as follows:
(in thousands)
Future lease payments
2020
$
998

2021
615

2022
387

2023
78

     Total
$
2,078
Accrued Liabilities
Accrued payroll and other current liabilities
 
  
 
December 31,
(in thousands)
 
2019
 
2018
Payroll and related expenses
 
$
6,053

 
$
7,241

Accrued payables
 
2,674

 
2,115

Operating lease liabilities, current portion
 
2,323

 
—

Lease financing, current portion
 
1,033

 
956

Product warranty
 
420

 
376

Customer prepayments
 
631

 
629

Sales and use tax payable
 
599

 
379

Other
 
1,024

 
1,189

        Total accrued payroll and other current liabilities
 
$
14,757

 
$
12,885
Lease, Cost [Table Text Block]
Supplemental balance sheet information related to leases was as follows:
(in thousands)
December 31,
2019
Other long-term assets
$
6,251

 
 
Accrued payroll and other current liabilities
2,323

Other long-term liabilities
4,866

Total operating lease liabilities
$
7,189

Other information related to leases was as follows:
 
Year ended December 31,
(in thousands)
2019
Supplemental Cash Flow Information
 
Cash paid for amounts included in the measurement of lease liabilities
$
2,689

Right-of-use assets obtained in exchange for lease obligations
$
2,830

Weighted average remaining lease term
2.90 years

Weighted average discount rate
8
%
Product Warranty Disclosure
A reconciliation of the changes in the Company’s warranty reserve for the years ended December 31, 2019, 2018 and 2017 is as follows:
 
 
Years ended December 31,
(in thousands)
 
2019
 
2018
 
2017
Warranty balance at the beginning of the period
 
$
376

 
$
353

 
$
596

Warranty expense accrued for shipments during the period
 
435

 
468

 
503

Changes in estimate related to pre-existing warranties
 
(192
)
 
(223
)
 
(450
)
Warranty settlements made
 
(199
)
 
(222
)
 
(296
)
Total product warranty
 
$
420

 
$
376

 
$
353
Schedule of Product Warranty Liability
A reconciliation of the changes in the Company’s warranty reserve for the years ended December 31, 2019, 2018 and 2017 is as follows:
 
 
Years ended December 31,
(in thousands)
 
2019
 
2018
 
2017
Warranty balance at the beginning of the period
 
$
376

 
$
353

 
$
596

Warranty expense accrued for shipments during the period
 
435

 
468

 
503

Changes in estimate related to pre-existing warranties
 
(192
)
 
(223
)
 
(450
)
Warranty settlements made
 
(199
)
 
(222
)
 
(296
)
Total product warranty
 
$
420

 
$
376

 
$
353