Supplemental Information - Schedule of Long-Lived Assets by Location (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-term assets	$ 23,865	$ 22,625
United States
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-term assets	12,418	11,868
Israel
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-term assets	4,552	4,370
Switzerland
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-term assets	4,048	2,849
Japan
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-term assets	1,042	1,230
Germany
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-term assets	1,084	1,075
Others
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-term assets	$ 721	$ 1,233