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
Mar. 31, 2021
Mar. 31, 2020
Class Of Stock [Line Items]    
Stock-based compensation expense $ 2,516 $ 2,784
Cost of Revenue    
Class Of Stock [Line Items]    
Stock-based compensation expense 238 229
Research and Development    
Class Of Stock [Line Items]    
Stock-based compensation expense 298 320
Sales and Marketing    
Class Of Stock [Line Items]    
Stock-based compensation expense 612 612
General and Administrative    
Class Of Stock [Line Items]    
Stock-based compensation expense $ 1,368 $ 1,623