Commitments and Contingencies - Schedule of Lease Cost and Other Lease Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Lease cost:
Operating lease cost	$ 2,532	$ 2,479
Short-term lease cost	19	101
Sublease income	(131)	(129)
Total lease cost	$ 2,420	$ 2,451
Other information:
Weighted average remaining lease term - operating leases	3 years 9 months 18 days	4 years 9 months 18 days
Weighted average discount rate - operating leases	3.90%	4.00%