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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized in Income Statement (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Class Of Stock [Line Items] |  |  |
Stock-based compensation expense | $ 8,203 | $ 9,129 | $ 12,790
Cost of Revenue |  |  |
Class Of Stock [Line Items] |  |  |
Stock-based compensation expense | 698 | 890 | 1,060
Research and Development |  |  |
Class Of Stock [Line Items] |  |  |
Stock-based compensation expense | 969 | 1,100 | 1,314
Sales and Marketing |  |  |
Class Of Stock [Line Items] |  |  |
Stock-based compensation expense | 2,208 | 1,755 | 2,355
General and Administrative |  |  |
Class Of Stock [Line Items] |  |  |
Stock-based compensation expense | $ 4,328 | $ 5,384 | $ 8,061

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