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Income Taxes - Components of Deferred Tax Assets (Liabilities) (Details) - USD ($) $ in Thousands | Dec. 31, 2020 | Dec. 31, 2019
--- | --- | ---
Deferred income tax assets: |  |
Net operating loss carryforwards | $ 4,112 | $ 22,525
Research and development tax credits | 9,467 | 17,700
Stock-based compensation | 2,783 | 2,895
Lease asset | 9,992 | 8,291
Other | 2,196 | 1,692
Total deferred tax assets | 28,550 | 53,103
Deferred tax liabilities: |  |
Property, equipment and software | (13,412) | (7,965)
Intangible assets | (2,693) | (3,767)
Capitalized commissions | (2,708) | (2,492)
State taxes | (2,350) | (2,563)
Lease liability | (8,064) | (7,152)
Other | (751) | (1,590)
Total deferred tax liabilities | (29,978) | (25,529)
Total net deferred tax (liabilities) assets |  | $ (27,574)
Total net deferred tax (liabilities) assets | $ (1,428) |

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