Including the current and noncurrent portions, the carrying value of convertible subordinated debt, as of the balance sheet date, initially scheduled to be repaid after one year or beyond the normal operating cycle if longer. This form of debt can be exchanged for a specified amount of another security, typically the entity's common stock, at the option of the issuer or the holder, and places a lender in a lien position behind debt having a higher priority of repayment in liquidation of the entity's assets.

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Debts - Notes Payable (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended		12 Months Ended
Debts - Notes Payable (Details) - USD ($) $ in Thousands	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2020	Oct. 31, 2017
Line of Credit Facility [Line Items]
Changes in fair value of promissory note	$ (709)	$ (17)	$ (46)	$ (101)	$ (167)	$ (1,060)
Yaskawa Note
Line of Credit Facility [Line Items]
Interest rate per annum					1.00%		1.00%	1.00%
Unsecured subordinated convertible promissory note	15,448		15,448		$ 15,336	15,186		$ 15,000
Promissory note	$ 16,327		16,327		16,169	15,852
Changes in fair value of promissory note			$ 46		$ 167	$ 1,100