Income Taxes - Schedule of Deferred Income Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Abstract]
Capitalized research and development costs	$ 18,605	$ 14,219
Net operating loss carryforward	15,978	18,851
Property and equipment	6,092	5,969
Accrued liabilities, reserves and other expenses	3,718	3,837
Research and development credits	4,140	2,360
Tax credits	1,467	2,141
Stock based compensation	1,600	1,739
Other	121	200
Gross deferred income tax assets	51,721	49,316
Deferred income tax liabilities:
Intangible assets	(2,430)	(2,711)
Prepaid and other expenses	(308)	(121)
Gross deferred income tax liabilities	(2,738)	(2,832)
Net deferred income tax assets	$ 48,983	$ 46,484