Condensed Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Jun. 30, 2020	Dec. 31, 2019
Statement of Financial Position [Abstract]
Accounts receivable, allowance for credit loss, current	$ 1,771	$ 1,238
Unamortized discount, current	(2,216)	(2,207)
Unamortized discount, noncurrent	$ (10,395)	$ (11,369)
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized (in shares)	50,000,000	50,000,000
Common stock, shares issued (in shares)	25,365,735	25,250,120
Common stock, shares outstanding (in shares)	25,365,735	25,250,120