Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at the beginning of year	$ 1,436	$ 1,348	$ 615
Increases related to current years’ tax positions	342	88	118
Increases related to prior years’ tax positions	241	0	615
Balance at end of year	$ 2,019	$ 1,436	$ 1,348