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Debt - Narrative (Details)			1 Months Ended	3 Months Ended		9 Months Ended
Debt - Narrative (Details)	Jul. 09, 2020 USD ($)	Apr. 22, 2020 USD ($)	Mar. 31, 2021 USD ($) day $ / shares $ / item	Sep. 30, 2021 USD ($)	Sep. 30, 2020 USD ($)	Sep. 30, 2021 USD ($)	Sep. 30, 2020 USD ($)	Mar. 05, 2021	Mar. 04, 2021 $ / shares
Debt Instrument [Line Items]
Cap price (in USD per per share) \| $ / item			45.5350
Premium over stock price (percent)			75.00%
Stock price (in USD per share) \| $ / shares									$ 26.02
Capped-call transaction term, consecutive trading days \| day			40
Purchase of capped call			$ 16,100,000			$ 16,134,000	$ 0
Interest on Convertible notes				$ 768,000	$ 0	1,737,000	0
Gain on extinguishment of PPP loan				0	$ 0	7,185,000	$ 0
Convertible Senior Notes Due 2026
Debt Instrument [Line Items]
Convertible debt, conversion ratio			0.0301
Convertible Senior Notes Due 2026 \| Common Stock
Debt Instrument [Line Items]
Conversion price (in dollars per share) \| $ / shares			$ 33.18
Loan and Security Agreement \| Silicon Valley Bank \| Revolving Credit Facility
Debt Instrument [Line Items]
Interest rate	5.00%
Debt instrument term	4 years
Maximum borrowing capacity	$ 30,000,000
Qualifying accounts receivable	80.00%
Commitment fee amount	$ 300,000
Anniversary fee amount	300,000
Quarterly minimum revenue	$ 90,000,000
Loan and Security Agreement \| Silicon Valley Bank \| Revolving Credit Facility \| Prime Rate
Debt Instrument [Line Items]
Basis spread on variable rate	1.75%
PPP Loan
Debt Instrument [Line Items]
Interest rate		1.00%
Loan proceeds		$ 7,200,000
Gain on extinguishment of PPP loan				7,200,000		7,200,000
Convertible Notes \| Convertible Senior Notes Due 2026
Debt Instrument [Line Items]
Notes issued			$ 138,300,000
Interest rate			2.25%					2.25%
Proceeds from convertible notes, net of unamortized debt issuance costs			$ 133,600,000
Carrying amount of convertible debt				134,000,000		134,000,000
Unamortized debt issuance costs				4,200,000		4,200,000
Redemption threshold percentage of stock price trigger			130.00%
Redemption threshold trading days \| day			20
Redemption threshold consecutive trading days \| day			30
Redemption price, percentage			100.00%
Required outstanding amount not subject to redemption			$ 50,000,000
Debt issuance costs				4,700,000		4,700,000
Amortization of Debt Issuance Costs				$ 200,000		$ 500,000
Effective interest rate during period				2.97%		2.97%
Interest on Convertible notes				$ 1,000,000.0		$ 2,200,000
Convertible Notes \| Convertible Senior Notes Due 2026 \| Occurrence of Fundamental Change
Debt Instrument [Line Items]
Redemption price, percentage			100.00%
Incremental repurchase amount			$ 1,000
Convertible Notes \| Convertible Senior Notes Due 2026 \| Level 2
Debt Instrument [Line Items]
Convertible debt at fair value				$ 217,100,000		$ 217,100,000
Convertible Notes \| Convertible Senior Notes Due 2026, First Conversion Trigger
Debt Instrument [Line Items]
Conversion threshold trading days \| day			20
Threshold Consecutive trading days \| day			30
Conversion threshold percentage of stock price trigger			130.00%
Convertible Notes \| Convertible Senior Notes Due 2026, Second Conversion Trigger
Debt Instrument [Line Items]
Conversion threshold trading days \| day			5
Threshold Consecutive trading days \| day			5
Conversion threshold percentage of stock price trigger			98.00%