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Equity incentive Plans - Summary of Compensation Costs Related to Stock Options and RSUS Included on Statements of Operations (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based compensation expense $ 4,675 $ 3,046
Cost of Revenue    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based compensation expense 172 130
Research and Development    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based compensation expense 1,544 917
Sales and Marketing    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based compensation expense 1,157 906
General and Administration    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based compensation expense $ 1,802 $ 1,093