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Property and Equipment - Property and Equipment (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Property Plant And Equipment [Line Items]      
Property and equipment, gross $ 22,603 $ 20,384  
Less accumulated depreciation (14,731) (14,940)  
Property and equipment, net 7,872 5,444  
Depreciation expense 1,800 1,700 $ 1,200
Leasehold Improvements      
Property Plant And Equipment [Line Items]      
Property and equipment, gross 4,707 3,327  
Office furniture, fixtures and equipment      
Property Plant And Equipment [Line Items]      
Property and equipment, gross $ 17,896 $ 17,057  
Office furniture, fixtures and equipment | Minimum      
Property Plant And Equipment [Line Items]      
Depreciable life 2 years    
Office furniture, fixtures and equipment | Maximum      
Property Plant And Equipment [Line Items]      
Depreciable life 10 years