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Debt - Schedule of Madryn Debt (Details) - Madryn Credit Agreement - Line of Credit - USD ($)
$ in Thousands
Jun. 30, 2020
Dec. 31, 2019
Dec. 31, 2017
Line of Credit Facility [Line Items]      
Principal $ 65,000 $ 65,000 $ 40,000
Net unamortized debt discount and issuance costs (16,061) (16,858)  
Net carrying value of Madryn debt $ 48,939 $ 48,142