Quarterly report pursuant to Section 13 or 15(d)

Commitments and Contingencies - Service Agreements (Details)

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Commitments and Contingencies - Service Agreements (Details) - USD ($)
$ in Thousands
 1 Months Ended 3 Months Ended 9 Months Ended
Dec. 31, 2011
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Service Agreements          
Term of agreement       5 years  
License fee amount   $ 454 $ 566 $ 1,193 $ 1,624
Payments made under agreement   $ 208 $ 196 $ 699 $ 337
License and Services Agreement [Member]          
Service Agreements          
Agreement termination notice period       6 months  
Master Services Agreement For Clinical Research and Related Services [Member]          
Service Agreements          
Service agreement amount paid upon execution of agreement $ 151        
Nerve End Cap Supply Agreement [Member]          
Service Agreements          
Agreement termination notice period       90 days