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Summary of Significant Accounting Policies - Additional Information (Details) | 3 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2020 | Dec. 31, 2020 USD ($) | Dec. 31, 2019 USD ($) | Dec. 31, 2018 USD ($) | Jan. 01, 2020 USD ($) | Oct. 04, 2018 ft²
Summary Of Significant Accounting Policies [Line Items] |  |  |  |  |  |
Impairment of long-lived assets |  | $ 0 |  |  |  |
Contract liability balance, revenue recognized |  | 1,200,000 |  |  |  |
Unrecognized tax benefit income tax interest and penalty charges |  | 0 |  |  |  |
Accumulated deficit |  | 304,684,000 | $ 260,393,000 | $ 205,825,000 |  |
San Francisco | Office Lease |  |  |  |  |  |
Summary Of Significant Accounting Policies [Line Items] |  |  |  |  |  |
Lease rentable area | ft² |  |  |  |  |  | 117,560
Printed Circuit Board Assemblies |  |  |  |  |  |
Summary Of Significant Accounting Policies [Line Items] |  |  |  |  |  |
Other assets |  | $ 12,600,000 | $ 7,400,000 |  |  |
Employee Severance | COVID-19 Disruption And Recovery |  |  |  |  |  |
Summary Of Significant Accounting Policies [Line Items] |  |  |  |  |  |
Employees furloughed (as a percent) | 5.00% |  |  |  |  |
Employees laid-off (as a percent) | 2.00% |  |  |  |  |
ASC 326 | Cumulative Effect, Period of Adoption, Adjustment |  |  |  |  |  |
Summary Of Significant Accounting Policies [Line Items] |  |  |  |  |  |
Accumulated deficit |  |  |  |  | $ 500,000 |
Allowance for doubtful accounts |  |  |  |  | $ 500,000 |
Internal-use software |  |  |  |  |  |
Summary Of Significant Accounting Policies [Line Items] |  |  |  |  |  |
Internal-use software, estimated useful life (in years) |  | 5 years |  |  |  |
Minimum |  |  |  |  |  |
Summary Of Significant Accounting Policies [Line Items] |  |  |  |  |  |
Property and equipment, estimated useful life (in years) |  | 3 years |  |  |  |
Maximum |  |  |  |  |  |
Summary Of Significant Accounting Policies [Line Items] |  |  |  |  |  |
Property and equipment, estimated useful life (in years) |  | 5 years |  |  |  |
Accounts Receivable | Accounts Receivable Concentration Risk | Federal Government Agencies |  |  |  |  |  |
Summary Of Significant Accounting Policies [Line Items] |  |  |  |  |  |
Concentration of credit risk (as a percent) |  | 20.00% | 20.00% |  |  |
Revenue | Customer Concentration Risk | Federal Government Agencies |  |  |  |  |  |
Summary Of Significant Accounting Policies [Line Items] |  |  |  |  |  |
Concentration of credit risk (as a percent) |  | 27.00% | 27.00% | 27.00% |  |

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