Commitments and Contingencies - Balance Sheet Information (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Commitments and Contingencies Disclosure [Abstract]
Operating lease right-of-use asset in other non-current assets	$ 2,798	$ 3,400
Operating lease liability in accrued liabilities	850	769
Operating lease liability in other liabilities	2,850	3,700
Total operating lease liabilities	$ 3,700	$ 4,469
Operating lease, right-of-use asset, statement of financial position extensible list	us-gaap:OtherAssets	us-gaap:OtherAssets
Operating lease, liability, current, statement of financial position extensible list	us-gaap:AccountsPayableAndAccruedLiabilitiesCurrent	us-gaap:AccountsPayableAndAccruedLiabilitiesCurrent
Operating lease, liability, noncurrent, statement of financial position extensible list	us-gaap:OtherLiabilitiesNoncurrent	us-gaap:OtherLiabilitiesNoncurrent