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Balance Sheet Components - Schedule of Accrued Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Accrued liabilities    
Payroll-related expenses $ 1,274 $ 1,236
Joint development agreement expenses   170
inventory 416 87
Restructuring expenses   782
Other 542 452
Total accrued liabilities $ 2,232 $ 2,727