Condensed Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2020	Dec. 31, 2019
Condensed Consolidated Balance Sheets
Accounts receivable, reserve for doubtful accounts	$ 277	$ 162
Accounts receivable, related parties	91	186
Accounts payable, related parties	29	36
Other accrued expenses, related parties	232	0
Deferred revenue, current, related parties	$ 36	$ 55
Common stock, par value	$ 0.001	$ 0.001
Common stock, authorized shares	120,000,000	120,000,000
Common stock, shares issued	28,243,442	28,112,201
Common stock, shares outstanding	28,243,442	28,112,201