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Revenue - Narrative (Details)
$ in Thousands
3 Months Ended 12 Months Ended
Oct. 14, 2015
USD ($)
payment
Dec. 31, 2018
USD ($)
Sep. 30, 2018
USD ($)
Jun. 30, 2018
USD ($)
Mar. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Sep. 30, 2017
USD ($)
Jun. 30, 2017
USD ($)
Mar. 31, 2017
USD ($)
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Dec. 31, 2016
USD ($)
Jan. 01, 2016
USD ($)
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                          
Retained earnings (accumulated deficit)   $ (14,466)       $ (36,559)       $ (14,466) $ (36,559)    
Revenue                   $ 61,025 58,023 $ 49,715  
Retention payments, percentage (or less)                   10.00%      
Minimum                          
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                          
Customer payment period after product delivery                   24 months      
Maximum                          
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                          
Customer payment period after product delivery                   36 months      
VorTeq License Agreement                          
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                          
Up front non-refundable payment $ 75,000                        
Number of milestone payments | payment 2                        
License term 15 years                        
VorTeq License Agreement | Milestone Payment One Upon Successful Yard Test                          
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                          
VorTeq milestone payment to be received $ 25,000                        
License and development revenue                          
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                          
Revenue   $ 3,723 $ 3,661 $ 3,358 $ 2,749 2,611 $ 3,197 $ 3,050 $ 2,248 $ 13,490 11,106 8,069  
Restatement Adjustment | Accounting Standards Update 2014-09                          
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                          
Retained earnings (accumulated deficit)           $ 9,363         9,363   $ (300)
Revenue                   $ 6,000 3,000    
Restatement Adjustment | License and development revenue | Accounting Standards Update 2014-09                          
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                          
Revenue                     $ 6,106 $ 3,069