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Equity Incentive Plans and Stock-Based Compensation - Schedule of Stock-based Compensation Awards Granted under Stock Option Plan in Consolidated 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]    
Stock-based compensation $ 3,040 $ 3,896
Cost of revenue    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation 325 324
Sales and marketing    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation 764 1,321
Research and development    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation 1,006 1,331
General and administrative    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation 945 920
Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation 110 184
Stock awards    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation 2,682 3,474
Employee stock purchase rights    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation $ 248 $ 238