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Stock-Based Compensation - Summary of Stock-Based Compensation Expense by Function (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation expense | $ 1,690 | $ 1,402 | $ 4,761 | $ 3,657
Costs of revenues |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation expense | 254 | 149 | 606 | 339
Research and development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation expense | 511 | 290 | 1,164 | 647
Selling, general, and administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation expense | $ 925 | $ 963 | $ 2,991 | $ 2,671

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