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Stock-Based Compensation - Summary of Stock-Based Compensation Expense by Function (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2020 | Jun. 30, 2019 | Jun. 30, 2020 | Jun. 30, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation expense | $ 1,822 | $ 1,646 | $ 3,071 | $ 2,255
Costs of revenues |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation expense | 209 | 105 | 352 | 190
Research and development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation expense | 394 | 193 | 653 | 357
Selling, general, and administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation expense | $ 1,219 | $ 1,348 | $ 2,066 | $ 1,708

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