Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Consolidated Balance Sheets
Accounts receivable, reserve for doubtful accounts	$ 419	$ 370
Accounts receivable, related parties	200	172
Accounts payable, related parties	42	14
Other accrued expenses, related parties	0	1,377
Deferred revenue, current, related parties	$ 54	$ 90
Common stock, par value	$ 0.001	$ 0.001
Common stock, authorized shares	120,000,000	120,000,000
Common stock, shares issued	36,768,035	31,796,544
Common stock, shares outstanding	36,768,035	31,796,544