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Debt - Additional Information (Details) - USD ($)
3 Months Ended 6 Months Ended
Mar. 24, 2020
Nov. 18, 2019
May 03, 2019
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Debt Instrument [Line Items]                
Letters of credit outstanding       $ 30,800,000   $ 30,800,000   $ 30,900,000
Morgan Stanley Senior Funding, Inc | Credit Agreement | Minimum                
Debt Instrument [Line Items]                
Adjusted quick ratio     100.00%          
Term Loan A Facility                
Debt Instrument [Line Items]                
Interest expense       500,000 $ 900,000 $ 1,100,000 $ 1,500,000  
Term Loan A Facility | Morgan Stanley Senior Funding, Inc | Credit Agreement                
Debt Instrument [Line Items]                
Debt instrument term, years     4 years          
Debt instrument, aggregate principal amount     $ 100,000,000.0          
Amount borrowed under debt facility   $ 100,000,000.0            
Debt instrument, amortization description           Loans under the Term Loan A Facility amortize in equal quarterly installments beginning on March 31, 2020, in an aggregate annual amount equal to (i) on or prior to December 31, 2021, 1.25% of the drawn principal amount of the Term Loan A Facility or $1.25 million and (ii) thereafter, 2.50% of the drawn principal amount of the Term Loan A Facility or $2.5 million, with the remaining balance payable on the maturity date of the Term Loan A Facility in February 2023.    
Debt instrument maturity month and year     2023-02          
Term Loan A Facility | Morgan Stanley Senior Funding, Inc | Credit Agreement | On or Prior to December 31, 2021                
Debt Instrument [Line Items]                
Percentage of amortization on drawn principal amount     1.25%          
Amortization, aggregate principal amount     $ 1,250,000          
Term Loan A Facility | Morgan Stanley Senior Funding, Inc | Credit Agreement | Thereafter December 31, 2021                
Debt Instrument [Line Items]                
Percentage of amortization on drawn principal amount     2.50%          
Amortization, aggregate principal amount     $ 2,500,000          
Term Loan A Facility | Morgan Stanley Senior Funding, Inc | Credit Agreement | Adjusted One-Month LIBOR                
Debt Instrument [Line Items]                
Debt instrument, applicable margin on variable rate   1.75%            
Revolving Credit Facility | Morgan Stanley Senior Funding, Inc | Credit Agreement                
Debt Instrument [Line Items]                
Debt instrument term, years     4 years          
Maximum borrowing capacity     $ 100,000,000.0          
Amount borrowed under debt facility $ 69,300,000              
Credit facility expiration and maturity month and year     2023-02          
Letters of credit outstanding       $ 30,800,000   $ 30,800,000   $ 30,800,000
Revolving Credit Facility | Morgan Stanley Senior Funding, Inc | Credit Agreement | Adjusted One-Month LIBOR                
Debt Instrument [Line Items]                
Debt instrument, applicable margin on variable rate 1.75%              
Uncommitted Incremental Facility | Morgan Stanley Senior Funding, Inc | Credit Agreement                
Debt Instrument [Line Items]                
Maximum borrowing capacity     $ 50,000,000.0          
Debt to company's EBITDA, description           1.0x of the Company’s EBITDA for the most recently completed four fiscal quarter period    
Uncommitted Incremental Facility | Morgan Stanley Senior Funding, Inc | Credit Agreement | Maximum                
Debt Instrument [Line Items]                
Secured leverage ratio     1.50%