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Stockholders' Equity - Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Jan. 01, 2021
Jan. 01, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Stock-based compensation          
Compensation expense     $ 10,173 $ 10,689 $ 9,824
Unrecognized stock-based compensation          
Unrecognized stock-based compensation expense         0
Former executive          
Stock-based compensation          
Compensation expense         200
Cost of revenue.          
Stock-based compensation          
Compensation expense     433 539 329
Sales and marketing          
Stock-based compensation          
Compensation expense     4,069 5,058 4,331
Research and development          
Stock-based compensation          
Compensation expense     314 360 372
Reimbursement, general and administrative          
Stock-based compensation          
Compensation expense     $ 5,357 4,732 4,792
2016 Plan          
Stock-based compensation          
Shares available for future issuance     6,314,849    
Automatic annual increase to the number of shares reserved and available for issuance as a percentage of outstanding common stock (as a percent)     5.00%    
Automatic annual increase to the number of shares reserved and available for issuance     2,500,000    
Increase in number of shares reserved and available for issuance 972,591 952,697      
Common stock options          
Stock-based compensation          
Compensation expense     $ 4,300 $ 4,000 $ 2,700
Unrecognized stock-based compensation          
Unrecognized stock-based compensation expense, period for recognition     1 year 8 months 12 days