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Summary of Significant Accounting Policies - Recently Adopted Accounting Pronouncements 2014-09 (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Jan. 01, 2019
Dec. 31, 2018
Jan. 01, 2018
Dec. 31, 2017
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]            
Prepaid expenses and other current assets $ 20,777 $ 15,540 $ 11,458 $ 11,775 $ 5,694  
Other assets 6,213 6,276     3,054  
Accumulated deficit $ 150,369 $ (8,034)     (64,283)  
Calculated under revenue guidance in effect before topic 606            
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]            
Prepaid expenses and other current assets           $ 4,546
Other assets           1,238
Accumulated deficit           $ (67,247)
Difference between revenue guidance in effect before and after topic 606 | Accounting standards update 2014-09            
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]            
Prepaid expenses and other current assets         1,148  
Other assets         1,816  
Accumulated deficit         $ 2,964