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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