Leases - Summary of Lease Costs (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Lessee, Lease, Description [Line Items]
Finance lease cost, amortization	$ 652,000	$ 645,000	$ 1,327,000	$ 1,311,000
Finance lease cost, interest expense	78,000	86,000	164,000	179,000
Total lease cost	1,999,000	2,000,000	4,035,000	4,024,000
Cost of revenue
Lessee, Lease, Description [Line Items]
Operating lease cost	685,000	893,000	1,375,000	1,777,000
Cost of revenue | Operating Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	100,000	100,000	200,000	400,000
Cost of revenue | Finance Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	700,000	500,000	1,300,000	1,200,000
Selling, general and administrative expenses
Lessee, Lease, Description [Line Items]
Operating lease cost	584,000	376,000	1,169,000	757,000
Selling, general and administrative expenses | Operating Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	100,000	100,000	200,000	100,000
Selling, general and administrative expenses | Finance Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	$ 0	$ 0	$ 0	$ 0