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Selected Quarterly Financial Data (unaudited) - Schedule of the Impact of the Revision on the Unaudited Quarterly Financial Data (Details) - USD ($)
$ / shares in Units, $ 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
Error Corrections and Prior Period Adjustments Restatement [Line Items]                      
Revenue $ 78,809 $ 71,944 $ 50,878 $ 63,535 $ 59,104 $ 54,673 $ 52,441 $ 48,334 $ 265,166 $ 214,552 $ 147,277
Gross profit 58,311 53,712 35,394 47,472 45,189 40,888 39,429 36,561 194,889 162,067 108,482
Net loss $ (9,651) $ (4,677) $ (20,437) $ (9,065) $ (17,300) $ (18,293) $ (10,725) $ (8,250) $ (43,830) $ (54,568) $ (50,378)
Net loss per common share, basic and diluted (in USD per share) $ (0.33) $ (0.17) $ (0.75) $ (0.34) $ (0.65) $ (0.72) $ (0.43) $ (0.34) $ (1.58) $ (2.16) $ (2.11)
As Reported                      
Error Corrections and Prior Period Adjustments Restatement [Line Items]                      
Revenue             $ 53,331 $ 47,214     $ 147,293
Gross profit             40,506 35,484     108,714
Net loss             $ (11,467) $ (8,019)     $ (48,280)
Net loss per common share, basic and diluted (in USD per share)             $ (0.46) $ (0.33)     $ (2.02)
Adjustment                      
Error Corrections and Prior Period Adjustments Restatement [Line Items]                      
Revenue             $ (890) $ 1,120     $ (16)
Gross profit             (1,077) 1,077     (232)
Net loss             $ 742 $ (231)     $ (2,098)
Net loss per common share, basic and diluted (in USD per share)             $ 0.03 $ (0.01)     $ (0.09)