Revision of Prior Period Financial Statements - Schedule of Revised Consolidated Statements of Operations (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Revenue	$ 78,809	$ 71,944	$ 50,878	$ 63,535	$ 59,104	$ 54,673	$ 52,441	$ 48,334	$ 265,166	$ 214,552	$ 147,277
Cost of revenue									70,277	52,485	38,795
Gross profit	58,311	53,712	35,394	47,472	45,189	40,888	39,429	36,561	194,889	162,067	108,482
Research and development									41,329	37,299	20,860
Selling, general and administrative									197,233	179,523	133,313
Total operating expenses									238,562	216,822	154,173
Loss from operations									(43,673)	(54,755)	(45,691)
Other income, net									1,591	1,895	1,501
Loss before income taxes									(43,601)	(54,503)	(50,334)
Net loss	$ (9,651)	$ (4,677)	$ (20,437)	$ (9,065)	$ (17,300)	$ (18,293)	$ (10,725)	$ (8,250)	$ (43,830)	$ (54,568)	$ (50,378)
Net loss per common share, basic and diluted (in USD per share)	$ (0.33)	$ (0.17)	$ (0.75)	$ (0.34)	$ (0.65)	$ (0.72)	$ (0.43)	$ (0.34)	$ (1.58)	$ (2.16)	$ (2.11)
As Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Revenue							$ 53,331	$ 47,214			$ 147,293
Cost of revenue											38,579
Gross profit							40,506	35,484			108,714
Research and development											20,750
Selling, general and administrative											131,582
Total operating expenses											152,332
Loss from operations											(43,618)
Other income, net											1,526
Loss before income taxes											(48,236)
Net loss							$ (11,467)	$ (8,019)			$ (48,280)
Net loss per common share, basic and diluted (in USD per share)							$ (0.46)	$ (0.33)			$ (2.02)
Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Revenue							$ (890)	$ 1,120			$ (16)
Cost of revenue											216
Gross profit							(1,077)	1,077			(232)
Research and development											110
Selling, general and administrative											1,731
Total operating expenses											1,841
Loss from operations											(2,073)
Other income, net											(25)
Loss before income taxes											(2,098)
Net loss							$ 742	$ (231)			$ (2,098)
Net loss per common share, basic and diluted (in USD per share)							$ 0.03	$ (0.01)			$ (0.09)