Annual report pursuant to Section 13 and 15(d)

Cover
- Cover Page
Financial Statements
Notes to Financial Statements
Accounting Policies
- Summary of Significant Accounting Policies (Policies)
Notes Tables
Notes Details

Related-Party Transactions (Details)

v3.20.4

Related-Party Transactions (Details)	12 Months Ended
Related-Party Transactions (Details)	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($) milestone	Dec. 31, 2017 USD ($)	Dec. 31, 2018 USD ($)	Sep. 20, 2013 USD ($)
Other Liabilities
Related Party Transaction [Line Items]
Due to related parties	$ 6,000,000.0	$ 6,000,000.0		$ 600,000
Settlement Agreement Payments \| Affiliated Shareholder \| ILJIN
Related Party Transaction [Line Items]
Settlement agreement terms					$ 10,000,000.0
Due to related parties	6,000,000.0	$ 7,800,000			$ 10,000,000.0
Number of milestone payments \| milestone		2
Milestone Payment \| Affiliated Shareholder \| ILJIN
Related Party Transaction [Line Items]
Payments to related party		$ 100,000	$ 2,200,000
Discontinued DES Program \| Affiliated Shareholder \| ILJIN
Related Party Transaction [Line Items]
Due to related parties	1,800,000
Legal Fees \| Management
Related Party Transaction [Line Items]
Expenses from related party	$ 392,000	$ 473,000

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