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Inventories (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Components of inventories    
Raw materials $ 12,755 $ 13,698
Work in process 3,117 2,489
Finished goods 7,593 6,755
Inventories 23,465 $ 22,942
Inventory reserve $ 2,300