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Summary of Significant Accounting Policies - Impact of Adoption of ASU 2014-09 on Financial Statements (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | ---
Dec. 31, 2020 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Dec. 31, 2019 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Jan. 01, 2019 | Dec. 31, 2017
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Cumulative effect adjustment to decrease opening balance of accumulated deficit | $ 341,612 |  |  |  | $ 135,409 |  |  |  | $ 341,612 | $ 135,409 | $ 52,137 |  | $ 79,341
Revenue | 78,809 | $ 71,944 | $ 50,878 | $ 63,535 | 59,104 | $ 54,673 | $ 52,441 | $ 48,334 | 265,166 | 214,552 | 147,277 |  |
Selling, general and administrative |  |  |  |  |  |  |  |  | 197,233 | 179,523 | 133,313 |  |
Net loss | (9,651) | $ (4,677) | $ (20,437) | $ (9,065) | (17,300) | $ (18,293) | (10,725) | (8,250) | (43,830) | (54,568) | (50,378) |  |
Accounts Receivable, net | 29,932 |  |  |  | 23,867 |  |  |  | 29,932 | 23,867 | 19,790 |  |
Accumulated deficit | (304,684) |  |  |  | (260,393) |  |  |  | (304,684) | (260,393) | (205,825) |  |
Operating lease right-of-use assets | 84,714 |  |  |  | 90,124 |  |  |  | 84,714 | 90,124 |  |  |
Total lease liabilities | 89,464 |  |  |  | 93,662 |  |  |  | 89,464 | 93,662 |  |  |
Accumulated Deficit |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Cumulative effect adjustment to decrease opening balance of accumulated deficit | $ (304,684) |  |  |  | (260,393) |  |  |  | (304,684) | (260,393) | (205,825) |  | (156,801)
Net loss |  |  |  |  |  |  |  |  | $ (43,830) | (54,568) | (50,378) |  |
Cumulative Effect, Period of Adoption, Adjustment |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Cumulative effect adjustment to decrease opening balance of accumulated deficit |  |  |  |  | (461) |  |  |  |  | (461) |  |  | 1,354
Cumulative Effect, Period of Adoption, Adjustment | Accumulated Deficit |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Cumulative effect adjustment to decrease opening balance of accumulated deficit |  |  |  |  | $ (461) |  |  |  |  | $ (461) |  |  | 1,354
As Reported |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Cumulative effect adjustment to decrease opening balance of accumulated deficit |  |  |  |  |  |  |  |  |  |  | 54,422 |  |
Revenue |  |  |  |  |  |  | 53,331 | 47,214 |  |  | 147,293 |  |
Selling, general and administrative |  |  |  |  |  |  |  |  |  |  | 131,582 |  |
Net loss |  |  |  |  |  |  | $ (11,467) | $ (8,019) |  |  | (48,280) |  |
Accounts Receivable, net |  |  |  |  |  |  |  |  |  |  | 21,977 |  |
Accumulated deficit |  |  |  |  |  |  |  |  |  |  | (203,515) |  |
As Reported | Accumulated Deficit |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Cumulative effect adjustment to decrease opening balance of accumulated deficit |  |  |  |  |  |  |  |  |  |  | (203,515) |  | $ (156,589)
Net loss |  |  |  |  |  |  |  |  |  |  | (48,280) |  |
Topic 842 |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Operating lease right-of-use assets |  |  |  |  |  |  |  |  |  |  |  | $ 10,200 |
Total lease liabilities |  |  |  |  |  |  |  |  |  |  |  | $ 10,000 |
Without the adoption of Topic 606 | As Reported |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue |  |  |  |  |  |  |  |  |  |  | 145,320 |  |
Selling, general and administrative |  |  |  |  |  |  |  |  |  |  | 132,603 |  |
Net loss |  |  |  |  |  |  |  |  |  |  | (51,274) |  |
Accounts Receivable, net |  |  |  |  |  |  |  |  |  |  | 17,629 |  |
Accumulated deficit |  |  |  |  |  |  |  |  |  |  | (207,863) |  |
Impact | ASC 606 | As Reported |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue |  |  |  |  |  |  |  |  |  |  | 1,973 |  |
Selling, general and administrative |  |  |  |  |  |  |  |  |  |  | (1,021) |  |
Net loss |  |  |  |  |  |  |  |  |  |  | 2,994 |  |
Accounts Receivable, net |  |  |  |  |  |  |  |  |  |  | 4,348 |  |
Accumulated deficit |  |  |  |  |  |  |  |  |  |  | $ 4,348 |  |

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