Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans - Schedule of Stock-Based Compensation Expense Recorded in Consolidated Statements of Operations (Details)

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Equity Incentive Plans - Schedule of Stock-Based Compensation Expense Recorded in Consolidated Statements of Operations (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense $ 4,462 $ 3,057 $ 2,468
Cost of Revenue      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense 1,093 670 316
Sale and Marketing      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense 1,268 955 770
Research and Development      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense 580 365 272
General and Administrative      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense $ 1,521 $ 1,067 $ 1,110