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Segment Reporting and Significant Customer Information - Revenue for Individual Countries that Exceed 10% of Total Revenue (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Revenue, Major Customer [Line Items]        
Total revenues $ 15,688 $ 13,787 $ 49,051 $ 41,118
United States        
Revenue, Major Customer [Line Items]        
Total revenues 8,607 8,345 31,042 23,753
United Kingdom        
Revenue, Major Customer [Line Items]        
Total revenues 4,218 3,095 9,325 10,189
Germany        
Revenue, Major Customer [Line Items]        
Total revenues 1,390 1,386 4,287 4,148
Rest of the world        
Revenue, Major Customer [Line Items]        
Total revenues $ 1,473 $ 961 $ 4,397 $ 3,028