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Quarterly Financial Data (Details) - USD ($)
 3 Months Ended 12 Months Ended
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2020
Dec. 31, 2019
Total revenues $ 48,361,000 $ 11,172,000 $ 9,389,000 $ 9,774,000 $ 9,242,000 $ 9,583,000 $ 8,464,000 $ 6,653,000 $ 78,696,000 $ 33,942,000
Gross margin 19,894,000 6,055,000 5,127,000 5,258,000 4,932,000 4,627,000 4,338,000 3,454,000 36,334,000 17,352,000
Loss from operations (9,847,000) (10,732,000) (5,845,000) (3,586,000) (878,000) (12,352,000) (2,304,000) (2,141,000) (30,010,000) (17,675,000)
Net loss attributable to common shareholders $ (53,866,000) $ (11,418,000) $ (5,803,000) $ (3,943,000) $ (948,000) $ (12,469,000) $ (2,528,000) $ (2,387,000) $ (75,029,000) $ (18,332,000)
Net loss per share attributable to common stockholders - basic and diluted $ (1.32) $ (0.29) $ (0.15) $ (0.11) $ (0.03) $ (0.35) $ (0.08) $ (0.08) $ (1.94) $ (0.55)
Accelerated stock-based compensation expense         $ 1,227,890       $ 0 $ 9,562,000
Stock-based compensation expense                 $ 8,916,000 $ 6,962,000
General and administrative expense                    
Stock-based compensation expense         $ 765,099