Cash, Cash Equivalents and Restricted Cash - Additional Information (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020	Sep. 30, 2020
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents	$ 45,505	$ 45,219	$ 31,307
Long term restricted cash	$ 200	$ 200
Restricted Cash Equivalents, Noncurrent, Asset, Statement of Financial Position [Extensible List]	Other assets	Other assets
Outside U.S.
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents	$ 22,300	$ 32,200