Annual report pursuant to Section 13 and 15(d)

Income Taxes - Components of Loss Before Provision for Income Taxes (Details)

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Income Taxes - Components of Loss Before Provision for Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Abstract]      
United States $ (23,452) $ (11,751) $ (10,653)
Foreign (219) (167) (262)
Loss before income taxes $ (23,671) $ (11,918) $ (10,915)