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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2020
Equity [Abstract]  
Schedule of Stock by Class
 AuthorizedIssued and outstanding
 Number of shares
 December 31,December 31,
 2020201920202019
Stock of $0.001 par value:
    
Common stock200,000,000 200,000,000 31,818,954 30,583,311 
Share-based Compensation, Stock Options, Activity
A summary of employees’ stock options activities during the year ended December 31, 2020 is as follows:
 
Year ended
 December 31, 2020
 NumberWeighted
average
exercise
price		Aggregate
intrinsic
value
(in thousands)		Weighted
average
remaining
contractual
life (years)
Options outstanding at the beginning of the year454,348 $20.628 $25,935 4.343 
Granted10,933 $17.045 
Exercised(123,751)$20.503 
Forfeited(609)$11.618 
Options outstanding at the end of the period340,921 $20.586 $48,760 3.604 
Options exercisable at the end of the period331,759 $20.684 $47,417 3.452 
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range The options outstanding as of December 31, 2020 have been separated into ranges of exercise price as follows:
 
Range of exercise priceOptions
outstanding
as of
December 31,
2020		Weighted
average
remaining
contractual
life (years)		Weighted
average
exercise
price		Options
exercisable
as of
December 31,
2020		Weighted
average
remaining
contractual
life (years)		Weighted
average
exercise
price of
options
exercisable
$6.230 —8.80010,356 1.104 $8.289 10,356 1.104 $8.289 
$12.470 —17.045100,758 3.769 $14.639 91,596 3.235 $14.346 
$19.510 —24.230173,685 3.534 $21.440 173,685 3.534 $21.440 
 $29.880  46,548 4.142 $29.880 46,548 4.142 $29.880 
 $39.860  9,574 3.222 $39.860 9,574 3.222 $39.860 
   340,921 3.604 $20.586 331,759 3.452 $20.684 
Schedule of Stockholders' Equity Note, Warrants or Rights The Company’s outstanding options granted to consultants for services as of December 31, 2020 were as follows:
 
Issuance dateOptions for
shares of
common stock		Exercise price
per share		Options
exercisable		Exercisable
through
 (number) (number) 
August 20132,500 $21.140 2,500 August 2023
March 20141,650 $39.860 1,650 March 2024
May 20142,000 $22.010 2,000 May 2024
November 20143,445 $21.660 3,445 November 2024
February 20161,000 $16.870 1,000 February 2026
October 2019393 $17.045 393 October 2029
May 2020212 $17.045 212 May 2030
 11,200 11,200 
Schedule of Share-based Compensation, Restricted Stock and Restricted Stock Units Activity
The following provides a summary of the restricted stock unit activity for the Company for the year ended December 31, 2020:
 
 Number of
Shares
Underlying
Outstanding
Restricted Stock
Units		Weighted-
Average
Grant Date
Fair Value
Outstanding as of January 1, 2020
2,559,083 $49.58 
Granted1,395,697 $87.03 
Vested(950,323)$44.63 
Forfeited(208,136)$62.40 
Unvested as of December 31, 2020
2,796,321 $69.01 
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs
The Company recognized non-cash stock-based compensation expense in the consolidated statements of operations as follows (in thousands):
 
Year ended
 December 31,
 202020192018
Cost of revenues$5,013 $2,561 $1,757 
Research and development21,979 13,188 9,645 
Sales and marketing25,578 14,782 16,081 
General and administrative16,015 15,608 7,478 
Total$68,585 $46,139 $34,961