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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