Commitments and Contingencies - Lease Costs, Cash Flows and Balance Sheet Supplemental Information (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Commitments and Contingencies Disclosure [Abstract]
Operating lease cost	$ 3,119	$ 3,233
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows for operating leases	3,179	$ 3,302
Supplemental balance sheet information related to leases was as follows:
Operating lease right-of-use assets	22,682		$ 24,143
Operating lease liabilities	$ 22,682		$ 24,143
Weighted Average Remaining Lease Term
Operating leases	6 years 7 months 28 days		6 years 11 months 12 days
Weighted Average Discount Rate
Operating leases	3.10%		3.20%