Revenue Recognition - Estimated Revenue Expected to be Recognized in Future Related to Performance Obligations (Details) $ in Thousands	Dec. 31, 2019 USD ($)
Product revenue | 2020
Revenue, Remaining Performance Obligation	$ 6,680
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period	1 year
Product revenue | 2021
Revenue, Remaining Performance Obligation	$ 0
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period	2 years
License and royalty revenue | 2020
Revenue, Remaining Performance Obligation	$ 217
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period	1 year
License and royalty revenue | 2021
Revenue, Remaining Performance Obligation	$ 0
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period	2 years