Annual report pursuant to Section 13 and 15(d)

Summary of Significant Accounting Policies - Summary of Components of Accumulated Other Comprehensive Income (Loss) (Details)

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Summary of Significant Accounting Policies - Summary of Components of Accumulated Other Comprehensive Income (Loss) (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance $ 310,424 $ 227,041 $ 182,088
Other comprehensive income (loss) (811) 452 307
Ending Balance 344,621 310,424 227,041
Foreign Currency Translation Adjustments      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 394 363  
Other comprehensive income (loss) (123) 31  
Ending Balance 271 394 363
Unrealized Gains (Losses) on Marketable Securities      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance   (17)  
Other comprehensive income (loss) 6 17  
Ending Balance 6   (17)
Unrealized Gains (Losses) on Cash Flow Hedges      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 330 (74)  
Other comprehensive income (loss) (694) 404  
Ending Balance (364) 330 (74)
Accumulated other comprehensive income (loss)      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 724 272 (35)
Other comprehensive income (loss) (811) 452 307
Ending Balance $ (87) $ 724 $ 272