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Income Taxes - Textual (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016
Operating Loss Carryforwards [Line Items] |  |  |  |
U.S. federal income tax rate, percent | 21.00% | 21.00% | 35.00% |
Deferred tax assets, valuation allowance | $ 14,160 | $ 3,172 |  |
Maximum amount company recognize from unrecognized tax benefit | 15,143 | 5,528 | $ 4,880 | $ 4,827
Unrecognized tax benefits that would reflect as adjustment to income tax expense if recognized | 10,649 | 4,995 |  |
Unrecognized tax benefits, income tax penalties and interest expense | 236 | 199 | $ 246 |
Unrecognized tax benefits, income tax penalties and interest accrued | 1,681 | $ 1,445 |  |
California [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Deferred tax assets, valuation allowance | 7,439 |  |  |
Foreign [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Valuation allowance foreign tax credit | 2,366 |  |  |
Operating loss carryforwards | 20,986 |  |  |
Research and development tax credit carryforward | $ 2,366 |  |  |
Foreign [Member] | Research and Development Credit [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforward expiration date | Dec. 31, 2029 |  |  |
Foreign [Member] | China [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Valuation allowance foreign tax credit | $ 478 |  |  |
Foreign [Member] | Switzerland [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Valuation allowance foreign tax credit | 3,434 |  |  |
Foreign [Member] | United Kingdom [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Valuation allowance foreign tax credit | 443 |  |  |
Federal [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 1,997 |  |  |
Research and development tax credit carryforward | 6,859 |  |  |
State [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 25,630 |  |  |
Research and development tax credit carryforward | $ 9,948 |  |  |

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