Stock-Based Compensation - Summary of Stock-Based Compensation Expense by Function (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense	$ 1,690	$ 1,402	$ 4,761	$ 3,657
Costs of revenues
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense	254	149	606	339
Research and development
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense	511	290	1,164	647
Selling, general, and administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense	$ 925	$ 963	$ 2,991	$ 2,671