Earnings Per Share - Weighted average number of shares that could dilute basic EPS (Details) - shares	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Convertible preferred stock
Earnings Per Share [Line Items]
Antidilutive securities (in shares)	30,591,000	0	30,810,000	0
Stock options
Earnings Per Share [Line Items]
Antidilutive securities (in shares)	899,000	861,000	849,000	862,000
Restricted stock awards and restricted stock units
Earnings Per Share [Line Items]
Antidilutive securities (in shares)	2,655,000	1,268,000	2,161,000	930,000
Warrants | Private placement warrants
Earnings Per Share [Line Items]
Antidilutive securities (in shares)	0	6,160,000	0	6,160,000
Warrants | Public warrants
Earnings Per Share [Line Items]
Antidilutive securities (in shares)	0	9,823,000	0	9,823,000