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Employee Benefit Plans and Stock-based Compensation - Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation | $ 2,623 | $ 2,346 | $ 1,925
Net effect on net income | $ 2,623 | $ 2,346 | $ 1,925
Shares used in computing basic net income (loss) per share | 40,152,000 | 39,487,000 | 39,049,000
Shares used in computing diluted net income per share | 41,025,000 | 39,487,000 | 40,265,000
Effect on basic net income per share | $ 0.07 | $ (0.06) | $ 0.05
Effect on diluted net income per share | $ 0.06 | $ (0.06) | $ 0.05
Cost of Revenue [Member] |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation | $ 116 | $ 125 | $ 92
Selling, General and Administrative [Member] |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation | 2,000 | 1,778 | 1,520
Research and Development [Member] |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation | $ 507 | $ 443 | $ 313
Options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock options grants in period | 0 | 430,000 | 246,000
Weighted-average grant date fair value of stock options granted (in dollars per share) |  | $ 1.48 | $ 2.74

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