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Commitments and Contingencies (Details) - USD ($)
$ in Thousands
1 Months Ended 2 Months Ended 9 Months Ended
Aug. 31, 2020
Aug. 31, 2013
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Debt Instrument [Line Items]            
Borrowings from credit facility       $ 0 $ 30,900  
Repayment of credit facility       0 $ 30,900  
Revolving credit facility | Comerica Bank | Line of credit            
Debt Instrument [Line Items]            
Maximum borrowing capacity   $ 50,000        
Revolving credit facility | Comerica Bank | Line of credit | Credit Facility            
Debt Instrument [Line Items]            
Unused capacity, commitment fee percentage   0.20%        
Unused capacity, maximum outstanding amount   $ 15,000        
Borrowings from credit facility     $ 30,900      
Repayment of credit facility $ 30,900          
Letter of credit | Comerica Bank | Line of credit | Credit Facility            
Debt Instrument [Line Items]            
Maximum borrowing capacity   $ 15,000        
Letters of credit, outstanding amount       $ 3,600   $ 3,700