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Income Taxes - Effective Income Tax Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Abstract]
Tax at statutory rate	$ 4,019	$ (3,447)	$ (5,572)
Tax at statutory rate (percent)	21.00%	21.00%	21.00%
State tax - net of federal benefits	$ 31	$ 42	$ 39
State tax - net of federal benefits (percent)	0.20%	(0.30%)	(0.10%)
Foreign rate differential	$ 507	$ 363	$ 258
Foreign rate differential (percent)	2.60%	(2.20%)	(1.00%)
Changes in federal valuation allowance	$ (3,281)	$ 4,695	$ 6,430
Changes in valuation allowance (percent)	(17.10%)	(28.60%)	(24.20%)
Change in federal tax rate due to Tax Cuts and Jobs Act	$ 0	$ 0	$ 0
Change in federal tax rate due to Tax Cuts and Jobs Act (Percent)	0.00%	0.00%	0.00%
Stock-based compensation	$ 781	$ 578	$ 1,950
Stock-based compensation (percent)	4.10%	(3.50%)	(7.30%)
Non-deductible meals and entertainment expenses	$ 219	$ 287	$ 342
Non-deductible meals and entertainment expenses (percent)	1.20%	(1.80%)	(1.30%)
Other permanent items	$ 364	$ 257	$ 351
Other permanent items (percent)	1.90%	(1.60%)	(1.30%)
Federal Tax credits - net of uncertain tax position	$ (1,035)	$ (1,809)	$ (2,634)
Federal Tax credits - net of uncertain tax position (percent)	(5.40%)	11.00%	9.90%
Expenses for uncertain tax positions	$ 0	$ 166	$ 137
Expenses for uncertain tax positions (percent)	0.00%	(1.00%)	(0.50%)
Other	$ (282)	$ 275	$ (219)
Other (percent)	(1.50%)	(1.60%)	0.70%
Provision for income taxes	$ 1,323	$ 1,407	$ 1,082
Provision for income taxes (percent)	7.00%	(8.60%)	(4.10%)

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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- Definition

Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to tax credits. Including, but not limited to, research credit, foreign tax credit, investment tax credit, and other tax credits.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 12
-URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32687-109319

+ Details

Name:	us-gaap_IncomeTaxReconciliationTaxCredits
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration