Consolidated Statements of Operations - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Revenue
Total revenue	$ 180,501	$ 179,630	$ 165,989
Cost of Revenue [Abstract]
Total cost of revenue	71,402	67,743	64,927
Gross profit	109,099	111,887	101,062
Operating expenses
Research and development	34,280	30,879	27,685
Sales and marketing	63,168	62,214	60,107
General and administrative	25,774	25,099	23,970
Total operating expenses	123,222	118,192	111,762
Loss from operations	(14,123)	(6,305)	(10,700)
Interest income	5,110	3,044	604
Interest Expense	8,789	5,241	0
Other expense, net	(158)	(1,523)	(42)
Loss before income taxes	(17,960)	(10,025)	(10,138)
Benefit from (provision for) income taxes	(20)	351	(759)
Net loss	$ (17,980)	$ (9,674)	$ (10,897)
Net loss per share:
Basic and diluted	$ (0.57)	$ (0.32)	$ (0.38)
Weighted average shares used to compute net loss per share:
Basic	31,273	30,041	28,655
Diluted	31,273	30,041	28,655
Product
Revenue
Total revenue	$ 92,561	$ 97,447	$ 91,585
Cost of Revenue [Abstract]
Total cost of revenue	29,039	27,425	27,244
Service
Revenue
Total revenue	87,940	82,183	74,404
Cost of Revenue [Abstract]
Total cost of revenue	$ 42,363	$ 40,318	$ 37,683
As Reported
Net loss per share:
Basic and diluted	$ (0.57)