Long-Term Debt and Other Financings - Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Interest expense
Interest expense	$ 434	$ 461	$ 1,484
Silicon Valley Bank [Member]
Interest expense
Interest expense	334	373	1,073
Novartis Note [Member]
Interest expense
Interest expense	$ 100	$ 88	409
Other [Member]
Interest expense
Interest expense			$ 2