Commitments and Contingencies - Rent Expense (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Commitments and Contingencies Disclosure [Abstract]
Rent expense	$ 3,250	$ 3,169	$ 2,724
Sublease income	$ 51	$ 99	$ 86

The amount of revenue recognized for the period under subleasing arrangements.

Reference 1: http://fasb.org/us-gaap/role/ref/otherTransitionRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 840
-SubTopic 20
-Section 55
-Paragraph 3
-URI http://asc.fasb.org/extlink&oid=77891322&loc=d3e41620-112719

Name:	us-gaap_OperatingLeasesIncomeStatementSubleaseRevenue
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration