Debt - Principal Payments on Debt (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Debt Disclosure [Abstract]
Remainder of 2021	$ 3,184
2022	7,816
2023	23,652
2024	12,018
2025	12,000
Thereafter	20,000
Total	78,670
Less: unamortized debt discount and debt issuance costs	(11,893)
Total	66,777
Less: short-term debt	(10,988)	$ (4,167)
Long-term debt	$ 55,789	$ 37,999