Quarterly report pursuant to Section 13 or 15(d)

Long-Term Debt and Other Financings - Interest Expense (Details)

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Long-Term Debt and Other Financings - Interest Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Interest expense      
Interest expense $ 434 $ 461 $ 1,484
Silicon Valley Bank [Member]      
Interest expense      
Interest expense 334 373 1,073
Novartis Note [Member]      
Interest expense      
Interest expense $ 100 $ 88 409
Other [Member]      
Interest expense      
Interest expense     $ 2