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Long-term Debt and Line of Credit - Obligations under Debt Arrangements (Details) - USD ($)
$ in Thousands
1 Months Ended 6 Months Ended
Oct. 09, 2019
May 31, 2019
Mar. 31, 2019
Jul. 31, 2018
Jun. 30, 2021
Dec. 31, 2020
Debt Instrument [Line Items]            
Net Value, current         $ 6,139 $ 4,344
Net Value, long-term         $ 294 29,523
Line of Credit            
Debt Instrument [Line Items]            
Weighted average interest rate         2.33%  
Principal current         $ 6,139 4,500
Principal, long-term         294 30,586
Principal         6,433 35,086
Deferred Issuance Costs, current           (156)
Deferred Issuance Costs, long-term           (1,063)
Debt Issuance Costs, Net, Total           (1,219)
Net Value, current         6,139 4,344
Net Value, long-term         294 29,523
Total debt         6,433 33,867
Other Debt            
Debt Instrument [Line Items]            
Principal current         139  
Principal, long-term         294  
Principal         400  
Net Value, current         139  
Net Value, long-term         294  
Revolving Credit Facility | Line of Credit            
Debt Instrument [Line Items]            
Line of credit facility, maximum borrowing capacity   $ 50,000     50,000  
Debt issuance expense   400        
Principal current         6,000  
Principal, long-term           5,000
Deferred Issuance Costs, long-term           (174)
Net Value, current         6,000  
Net Value, long-term           4,826
Term Loan | Line of Credit            
Debt Instrument [Line Items]            
Principal current           4,500
Principal, long-term           25,586
Deferred Issuance Costs, current           (156)
Deferred Issuance Costs, long-term           (889)
Net Value, current           4,344
Net Value, long-term           $ 24,697
364-Day Revolving Credit Facility | Line of Credit            
Debt Instrument [Line Items]            
Line of credit facility, maximum borrowing capacity         $ 20,000  
Credit facility term         364 days  
Borrowings         $ 0  
Fourth, Fifth And Sixth Amendments To Credit Agreement | Line of Credit            
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        
Eighth Amendment to Credit Agreement [Member] | Line of Credit            
Debt Instrument [Line Items]            
Debt issuance cost $ 0