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Stockholders' Equity - Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Jan. 01, 2021
Jan. 01, 2020
Mar. 31, 2021
Mar. 31, 2020
Stock-based compensation        
Compensation expense     $ 2,457 $ 2,728
Cost of revenue.        
Stock-based compensation        
Compensation expense     111 82
Sales and marketing        
Stock-based compensation        
Compensation expense     978 1,246
Research and development        
Stock-based compensation        
Compensation expense     97 88
Reimbursement, general and administrative        
Stock-based compensation        
Compensation expense     $ 1,271 1,312
2016 Plan        
Stock-based compensation        
Shares available for future issuance     6,345,847  
Automatic annual increase to the number of shares reserved and available for issuance as a percentage of outstanding common stock (as a percent)     5.00%  
Automatic annual increase to the number of shares reserved and available for issuance     2,500,000  
Increase in number of shares reserved and available for issuance 972,591 952,697    
Common stock options        
Stock-based compensation        
Compensation expense     $ 1,200 $ 900
Unrecognized stock-based compensation        
Unrecognized stock-based compensation expense, period for recognition     2 years 1 month 6 days