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, 2020
Dec. 31, 2019
Dec. 31, 2018
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance $ 344,621 $ 310,424 $ 227,041
Other comprehensive income (loss) 562 (811) 452
Ending Balance 349,623 344,621 310,424
Foreign Currency Translation Adjustments      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 271 394  
Other comprehensive income (loss) 857 (123)  
Ending Balance 1,128 271 394
Unrealized Gains (Losses) on Marketable Securities      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 6    
Other comprehensive income (loss) (6) 6  
Ending Balance   6  
Unrealized Gains (Losses) on Cash Flow Hedges      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance (364) 330  
Other comprehensive income (loss) (289) (694)  
Ending Balance (653) (364) 330
Accumulated other comprehensive income (loss)      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance (87) 724 272
Other comprehensive income (loss) 562 (811) 452
Ending Balance $ 475 $ (87) $ 724