Leases - Summary of Lease Costs (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Lessee, Lease, Description [Line Items]
Finance lease cost, amortization	$ 644,000	$ 684,000	$ 1,971,000	$ 2,001,000
Finance lease cost, interest expense	72,000	89,000	236,000	269,000
Total lease cost	1,985,000	2,010,000	6,019,000	6,038,000
Cost of revenue
Lessee, Lease, Description [Line Items]
Operating lease cost	716,000	882,000	2,088,000	2,658,000
Cost of revenue | Operating Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	200,000	200,000	400,000	500,000
Cost of revenue | Finance Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	700,000	600,000	2,000,000	1,800,000
Selling, general and administrative expenses
Lessee, Lease, Description [Line Items]
Operating lease cost	553,000	355,000	1,724,000	1,110,000
Selling, general and administrative expenses | Operating Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	100,000	0	300,000	200,000
Selling, general and administrative expenses | Finance Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	$ 0	$ 0	$ 0	$ 0