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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized in Income Statement (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Class Of Stock [Line Items] |  |  |  |
Stock-based compensation expense | $ 2,050 | $ 1,565 | $ 6,111 | $ 6,930
Cost of Revenue |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Stock-based compensation expense | 185 | 172 | 511 | 656
Research and Development |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Stock-based compensation expense | 233 | 221 | 726 | 825
Sales and Marketing |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Stock-based compensation expense | 516 | 263 | 1,587 | 1,289
General and Administrative |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Stock-based compensation expense | $ 1,116 | $ 909 | $ 3,287 | $ 4,160

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