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Long-term Debt and Line of Credit - Provisions of Term Loan (Details) - USD ($)
$ in Thousands
12 Months Ended
Sep. 27, 2019
Dec. 31, 2020
Dec. 31, 2019
Debt Instrument [Line Items]      
Outstanding principal balance   $ 35,086 $ 73,290
Additional principal paydown $ 18,200    
Term Loan | Line of Credit      
Debt Instrument [Line Items]      
Line of credit facility, maximum borrowing capacity   60,000  
Outstanding principal balance   30,086  
Current portion of debt   4,500  
Quarterly principal payments   3,800  
Additional principal paydown   3,400  
Non-current portion of debt   $ 25,600  
Term Loan | Line of Credit | LIBOR      
Debt Instrument [Line Items]      
Effective interest rate   2.44%