Revenue Recognition - Estimated Revenue Expected to be Recognized in Future Related to Performance Obligations (Details) $ in Thousands	Mar. 31, 2020 USD ($)
License and royalty revenue | Remainder 2020
Revenue, Remaining Performance Obligation	$ 1,375
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Year	2020
License and royalty revenue | 2021
Revenue, Remaining Performance Obligation	$ 0
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Year	2021
Contract Revenue | Remainder 2020
Revenue, Remaining Performance Obligation	$ 15
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Year	2020
Contract Revenue | 2021
Revenue, Remaining Performance Obligation	$ 0
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Year	2021