Contingencies and Commitments - Agreement with Aroa (Details) - USD ($) $ in Thousands	1 Months Ended	12 Months Ended
	Apr. 30, 2014	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Contingencies and Commitments
Agreement extended term		10 years
Issuance of common stock		$ 44,722	$ 50,629
Umbrella Agreement with Aroa
Contingencies and Commitments
Payment for agreement	$ 4,000
Fixed Cost Of Net Sales		27.00%
Purchase commitments		$ 4,300
Number of days for product supply		60 days
Percentage of products ordered to be supplied		75.00%
Royalty percentage of net sales		6.00%
Percentage Paid By Company For Capital Costs Of Any Manufacturing Expansion Plan Agreed Upon By The Parties Under Agreement		50.00%
Umbrella Agreement with Aroa | European territory
Contingencies and Commitments
Developed right intangible asset				$ 1,000
Payments made upon approval			500	500
Sales milestone payments due				1,000
Purchase commitments		$ 2,800
Purchase Commitments Due Year One And Two From Contract Date		500
Purchase Commitments Due Year Three From Contract Date		500
Purchase Commitments Due Year Four From Contract Date		800
Purchase Commitments Due Year Five From Contract Date		1,000
Purchase commitments due year Six		$ 1,000
Payment for extending deadlines to file an investigational device exemption with the FDA			500
Umbrella Agreement with Aroa | North American territory
Contingencies and Commitments
Liability recognized				3,000
Developed right intangible asset				3,000
Sales milestone payment			$ 2,000	1,000
Sales milestone payments due				$ 2,000
Increase in transfer price quarterly percentage		200.00%	150.00%
Fixed Cost Of Net Sales		27.00%
Purchase commitments		$ 11,000
Purchase Commitments Due Year One And Two From Contract Date		2,000
Purchase Commitments Due Year Three From Contract Date		2,000
Purchase Commitments Due Year Four From Contract Date		3,000
Purchase Commitments Due Year Five From Contract Date		4,000
Purchase commitments due year Six		$ 5,000