Income Tax - Components of Income Tax Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Components of loss before tax:
Domestic	$ (30,046)	$ (12,454)	$ (29,211)
Foreign	(2,992)	(1,367)	(1,377)
Total loss before tax	(33,038)	(13,821)	(30,588)
Current federal tax expense	0	0	0
Current foreign tax expense	483	514	766
Current state tax expense	392	95	98
Total current tax expense	875	609	864
Deferred federal income tax expense (benefit)	852	852	(4,843)
Deferred foreign income tax expense (benefit)	0	0	0
Deferred state income tax expense (benefit)	244	244	486
Total deferred tax expense	1,096	1,096	(4,357)
Valuation allowance	(7,957)	0	0
Total tax expense (benefit)	$ (5,986)	$ 1,705	$ (3,493)