Debt - Long-Term Debt (Details) - USD ($) $ in Thousands	Sep. 30, 2020	Dec. 31, 2019
Long-term debt
Total long-term debt	$ 7,610	$ 34,502
Maturities of long-term debt
2021	1,156
2022	2,493
2023	1,351
Term loan
Long-term debt
Term loan payable	5,000	35,000
End of term fee	1,976	443
Unamortized debt issuance costs	(215)	(1,742)
Total long-term debt	6,761	33,701
Other long-term debt
Long-term debt
Total long-term debt	$ 849	$ 801