Accrued Expenses - Summary of Composition of Accrued Expenses (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Payables And Accruals [Abstract]
Compensation and related benefits	$ 5,724	$ 4,909
Consulting and professional fees	373	342
Research and development expenses	674	191
Sales and marketing expenses	127	127
Warranty	639	629
Sales tax payable	700	606
Interest payable	234	251
Other	560	493
Accrued expenses	$ 9,031	$ 7,548