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Property and Equipment (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Property and equipment          
Total property and equipment $ 37,434   $ 37,434   $ 34,846
Accumulated depreciation (23,679)   (23,679)   (21,490)
Property and equipment, net 13,755   13,755   13,356
Depreciation expense 1,100 $ 1,000 2,200 $ 2,100  
Equipment          
Property and equipment          
Total property and equipment 19,334   $ 19,334   19,011
Equipment | Minimum          
Property and equipment          
Estimated useful life     5 years    
Equipment | Maximum          
Property and equipment          
Estimated useful life     7 years    
Furniture and fixtures          
Property and equipment          
Total property and equipment 864   $ 864   864
Furniture and fixtures | Minimum          
Property and equipment          
Estimated useful life     5 years    
Furniture and fixtures | Maximum          
Property and equipment          
Estimated useful life     7 years    
Computer and software          
Property and equipment          
Estimated useful life     3 years    
Total property and equipment 9,654   $ 9,654   9,561
Leasehold improvements          
Property and equipment          
Total property and equipment 2,082   $ 2,082   2,008
Leasehold improvements | Minimum          
Property and equipment          
Estimated useful life     3 years    
Leasehold improvements | Maximum          
Property and equipment          
Estimated useful life     7 years    
Reusable instruments          
Property and equipment          
Estimated useful life     5 years    
Total property and equipment $ 5,500   $ 5,500   $ 3,402