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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