Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized in Income Statement (Details)

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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized in Income Statement (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Class Of Stock [Line Items]        
Stock-based compensation expense $ 2,050 $ 1,565 $ 6,111 $ 6,930
Cost of Revenue        
Class Of Stock [Line Items]        
Stock-based compensation expense 185 172 511 656
Research and Development        
Class Of Stock [Line Items]        
Stock-based compensation expense 233 221 726 825
Sales and Marketing        
Class Of Stock [Line Items]        
Stock-based compensation expense 516 263 1,587 1,289
General and Administrative        
Class Of Stock [Line Items]        
Stock-based compensation expense $ 1,116 $ 909 $ 3,287 $ 4,160