Long-term Debt and Line of Credit - Obligations under Debt Arrangements (Details) - USD ($) $ in Thousands	1 Months Ended
	Jun. 30, 2020	May 31, 2019	Mar. 31, 2019	Jul. 31, 2018	Dec. 31, 2020	Jun. 08, 2020	Dec. 31, 2019
Debt Instrument [Line Items]
Principal current					$ 4,500		$ 3,750
Principal, long-term					30,586		69,540
Principal					35,086		73,290
Deferred Issuance Costs, current					(156)		(82)
Deferred Issuance Costs, long-term					(1,063)		(1,511)
Debt Issuance Costs, Net, Total					(1,219)		(1,593)
Net Value, current					4,344		3,668
Net Value, long-term					29,523		68,029
Total debt					$ 33,867		71,697
Line of Credit
Debt Instrument [Line Items]
Weighted average interest rate					3.11%
Revolving Credit Facility | Line of Credit
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity					$ 50,000
Debt issuance expense		$ 400
Principal, long-term					5,000		36,000
Deferred Issuance Costs, long-term					(174)		(782)
Net Value, long-term					4,826		35,218
Term Loan | Line of Credit
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity					60,000
Principal current					4,500		3,750
Principal, long-term					25,586		33,540
Principal					30,086
Deferred Issuance Costs, current					(156)		(82)
Deferred Issuance Costs, long-term					(889)		(729)
Net Value, current					4,344		3,668
Net Value, long-term					24,697		$ 32,811
364-Day Revolving Credit Facility | Line of Credit
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity						$ 20,000
Debt issuance expense	$ 400
Borrowings	$ 0
Fourth, Fifth And Sixth Amendments To Credit Agreement
Debt Instrument [Line Items]
Debt Issuance Costs, Net, Total					$ (900)
Fourth Amendment to Credit Agreement | Line of Credit
Debt Instrument [Line Items]
Debt issuance cost				$ 900
Fifth Amendment To Credit Agreement | Line of Credit
Debt Instrument [Line Items]
Debt issuance cost			$ 600
Sixth Amendment To Credit Agreement | Line of Credit
Debt Instrument [Line Items]
Debt issuance cost		$ 900