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Fair Value Measurement - Change in Fair Value of Level 3 Liability (Details) - Deferred Payments - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]    
Balance as of the beginning of period $ 1,658 $ 3,257
Amounts paid (730) (808)
Other adjustments to fair value 440 (21)
Balance at end of period $ 1,368 $ 2,428