Summary of Significant Accounting Policies - Segments (Details) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2020 USD ($)	Sep. 30, 2019 USD ($)	Sep. 30, 2020 USD ($) segment	Sep. 30, 2019 USD ($)
Accounting Policies [Abstract]
Number of reportable segments | segment			1
Number of operating segments | segment			1
Disaggregation of Revenue [Line Items]
Revenue	$ 20,373	$ 16,182	$ 51,243	$ 47,490
United States
Disaggregation of Revenue [Line Items]
Revenue	18,924	14,856	47,442	43,325
International
Disaggregation of Revenue [Line Items]
Revenue	$ 1,449	$ 1,326	$ 3,801	$ 4,165