Balance Sheet Account Detail - Schedule of Property and Equipment Net of Accumulated Depreciation (Details) - USD ($) $ in Thousands	Mar. 31, 2020	Dec. 31, 2019
Property, Plant and Equipment [Line Items]
Property and equipment, at cost	$ 18,207	$ 17,619
(Less): Accumulated depreciation	(6,149)	(6,012)
Property and equipment, net of accumulated depreciation	12,058	11,607
Manufacturing equipment
Property, Plant and Equipment [Line Items]
Property and equipment, at cost	10,815	10,355
Computer hardware and software
Property, Plant and Equipment [Line Items]
Property and equipment, at cost	3,734	3,606
Laboratory equipment
Property, Plant and Equipment [Line Items]
Property and equipment, at cost	36	36
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment, at cost	3,374	3,374
Office furniture
Property, Plant and Equipment [Line Items]
Property and equipment, at cost	$ 248	$ 248