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Revenue - (Details) - USD ($)
$ in Thousands
3 Months Ended 12 Months Ended
Dec. 21, 2017
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2018
Sep. 30, 2018
Jun. 30, 2018
Mar. 31, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
CONCENTRATION                        
Allowance for doubtful accounts   $ 3,900       $ 2,000       $ 3,900 $ 2,000  
Change in estimate of uncollectible (percent)                   0.50%    
Change in revenue recognized due to 0.5% change in uncollectible percentage                   $ 500    
Increase (decrease) to revenues   $ 39,390 $ 30,499 $ 26,151 $ 21,810 $ 31,335 $ 22,484 $ 19,011 $ 18,027 117,850 90,857 $ 62,760
Warrants issued in connection with debt arrangement                   0 0 207
ICT                        
CONCENTRATION                        
Initial license agreement payment $ 5,200                      
ICT | Potential Payment                        
CONCENTRATION                        
Other commitment 1,200                     1,200
ICT | December 21, 2017 Warrants                        
CONCENTRATION                        
Warrants issued in connection with debt arrangement $ 4,000                      
Accounting Standards Update 2014-09 | Difference between Revenue Guidance in Effect before and after Topic 606                        
CONCENTRATION                        
Increase (decrease) to revenues                   $ 654 $ (182) $ (350)