Summary of Significant Accounting Policies - ASC 842 Impact on Condensed Consolidated Balance Sheet (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019	Jan. 01, 2019
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Other non-current assets	$ 2,832	$ 3,644	$ 3,982
Accrued liabilities	16,957	15,034	721
Other liabilities	$ 3,726	3,700	4,469
Previously Reported
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Other non-current assets		0
Accrued liabilities		139
Other liabilities		$ 1,069
Restatement Adjustment | Adjustments Due to ASC 842
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Other non-current assets			3,982
Accrued liabilities			582
Other liabilities			$ 3,400