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Certain Balance Sheet Items - Property and Equipment, net (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Property, Plant and Equipment [Line Items]          
Property and equipment subtotal $ 18,363,000   $ 18,363,000   $ 17,748,000
Accumulated depreciation and amortization (11,786,000)   (11,786,000)   (10,742,000)
Property and equipment, net of accumulated depreciation and amortization 6,577,000   6,577,000   7,006,000
Right of use assets 3,675,000   3,675,000   3,849,000
Property and equipment, net 10,252,000   10,252,000   10,855,000
Depreciation and amortization 800,000 $ 1,000,000.0 2,484,000 $ 3,026,000  
Right-of-use asset amortization 400,000 $ 500,000 1,300,000 $ 1,300,000  
Research equipment          
Property, Plant and Equipment [Line Items]          
Property and equipment subtotal 7,465,000   7,465,000   7,403,000
Manufacturing equipment          
Property, Plant and Equipment [Line Items]          
Property and equipment subtotal 4,414,000   4,414,000   3,858,000
Leasehold improvements          
Property, Plant and Equipment [Line Items]          
Property and equipment subtotal $ 1,628,000   $ 1,628,000   $ 1,628,000