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Inventory (Tables)
12 Months Ended
Dec. 31, 2020
Inventory Disclosure [Abstract]  
Schedule of Components of Inventories
Inventories consisted of the following at December 31 (in thousands):

20202019
Raw materials$4,891 $4,854 
Work in process1,942 1,561 
Finished goods2,383 1,644 
Inventory$9,216 $8,059