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Income Taxes Expense - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Jun. 09, 2020
Operating Loss Carryforwards [Line Items]        
Valuation allowance related to acquisition $ 582 $ 11   $ 600
Research and development credit carryforwards 3,500      
Net tax benefit as a result of statutes of limitation 600 3,000 $ 600  
Tax expense on uncertain tax positions 300 $ 200 $ 300  
Tax expense related to prior year position 200      
U.S. Federal        
Operating Loss Carryforwards [Line Items]        
NOL carryforwards 57,900      
NOLs utilized 6,400      
State        
Operating Loss Carryforwards [Line Items]        
NOL carryforwards 21,900      
NOLs utilized $ 13,600