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Intangible assets, net - Schedule of Amortization Expense Recognized (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Finite-Lived Intangible Assets [Line Items]      
Amortization expense $ 1,216 $ 1,200 $ 1,231
Cost of revenue [Member]      
Finite-Lived Intangible Assets [Line Items]      
Amortization expense   5 266
General and administrative expenses [Member]      
Finite-Lived Intangible Assets [Line Items]      
Amortization expense 1,210 1,136 721
Research and development expenses [Member]      
Finite-Lived Intangible Assets [Line Items]      
Amortization expense $ 6 $ 59 $ 244