Summary of Significant Accounting Policies - Schedule of Reconciliation of Cash, Cash Equivalents and Restricted Cash (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Accounting Policies [Abstract]
Cash and cash equivalents	$ 89,893	$ 37,403	$ 70,622
Restricted cash	279	0	76
Long-term restricted cash	1,379	279	329
Total cash, cash equivalents, and restricted cash shown in the consolidated statement of cash flows	$ 91,551	$ 37,682	$ 71,027	$ 59,050