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Summary of Significant Accounting Policies - Summary of Components of Accumulated Other Comprehensive Income (Loss) (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Beginning Balance | $ 344,621 | $ 310,424 | $ 227,041
Other comprehensive income (loss) | 562 | (811) | 452
Ending Balance | 349,623 | 344,621 | 310,424
Foreign Currency Translation Adjustments |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Beginning Balance | 271 | 394 |
Other comprehensive income (loss) | 857 | (123) |
Ending Balance | 1,128 | 271 | 394
Unrealized Gains (Losses) on Marketable Securities |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Beginning Balance | 6 |  |
Other comprehensive income (loss) | (6) | 6 |
Ending Balance |  | 6 |
Unrealized Gains (Losses) on Cash Flow Hedges |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Beginning Balance | (364) | 330 |
Other comprehensive income (loss) | (289) | (694) |
Ending Balance | (653) | (364) | 330
Accumulated other comprehensive income (loss) |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Beginning Balance | (87) | 724 | 272
Other comprehensive income (loss) | 562 | (811) | 452
Ending Balance | $ 475 | $ (87) | $ 724

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