Supplemental Information - Schedule of Long-Lived Assets by Location (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	$ 22,625	$ 17,026	$ 15,366
United States
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	11,868	8,896	8,289
Switzerland
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	2,849	3,067	2,513
Israel
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	4,370	2,753	2,236
Japan
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	1,230	999	632
Germany
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	1,075	729	1,054
Others
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	$ 1,233	$ 582	$ 642