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Stockholders' Equity - Schedule of Stock-based Compensation Expense Amounts Included in Condensed Consolidated Statement of Operations (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 7,526 | $ 3,268 | $ 14,502 | $ 6,023
Equity Awards |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 6,634 | 3,076 | 12,809 | 5,831
Equity Awards | Cost of Revenue |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 428 | 30 | 812 | 86
Equity Awards | Selling, General and Administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 3,675 | 2,072 | 7,010 | 3,829
Equity Awards | Research and Development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 2,531 | 974 | 4,987 | 1,916
Liability-based Awards |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 855 |  | 1,340 |
Liability-based Awards | Cost of Revenue |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 33 |  | 50 |
Liability-based Awards | Selling, General and Administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 494 |  | 758 |
Liability-based Awards | Research and Development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 328 |  | 532 |
Equity Awards and Liability Based Awards - Equity Settled |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 7,489 | 3,076 | 14,149 | 5,831
Liability Based Awards - Cash Settled |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 37 | 192 | 353 | 192
Liability Based Awards - Cash Settled | Cost of Revenue |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense |  | 40 | 102 | 40
Liability Based Awards - Cash Settled | Selling, General and Administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense |  | 54 | 108 | 54
Liability Based Awards - Cash Settled | Research and Development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 37 | $ 98 | $ 143 | $ 98

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