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Revenue - Additional Information (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Jan. 01, 2018
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Accumulated deficit | $ 272,249,000 | $ 290,065,000 |
Deferred revenue | 108,699,000 | 101,164,000 |
Revenue recognized that was included in deferred revenue balance at January 1, 2018 | 61,800,000 | 63,200,000 |
Deferred contract acquisition costs, current | 5,345,000 | 6,231,000 |
Deferred contract acquisition costs, noncurrent | 3,714,000 | 3,297,000 |
Asset impairment charges for contract assets | 0 |  |
ASU 2014-09 |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Accumulated deficit |  |  | $ 12,400,000
Deferred revenue |  |  | 4,000,000.0
Deferred commissions asset |  |  | $ 8,400,000
Deferred Sales Commissions |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Deferred contract acquisition costs, current | 5,300,000 | 6,200,000 |
Deferred contract acquisition costs, noncurrent | 3,700,000 | 3,300,000 |
Amortization | 6,500,000 | $ 7,400,000 |
Impairment loss of contract acquisition costs | $ 0 |  |

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