Commitments and Contingencies - Royalty Obligations (Details) - USD ($) $ in Millions	1 Months Ended	3 Months Ended
	Jul. 31, 2019	Mar. 31, 2021	Mar. 31, 2020
Cost of revenue
Other Commitments [Line Items]
Royalty expense		$ 0.5	$ 0.7
Royalty Agreement, March 2005
Other Commitments [Line Items]
Extended term of agreement	10 years
Increase in minimum annual royalty payments	$ 0.2
Minimum quarterly royalty payments		$ 0.3
Royalty Agreement, April 2012
Other Commitments [Line Items]
Term of agreement		15 years
Royalty as a percent of sales		5.00%