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Debt - Additional Information (Details)
1 Months Ended 3 Months Ended 6 Months Ended
Apr. 30, 2020
USD ($)
Mar. 31, 2020
USD ($)
Jun. 30, 2020
USD ($)
Jun. 30, 2019
USD ($)
Jun. 30, 2020
USD ($)
Jun. 30, 2019
USD ($)
Debt Instrument [Line Items]            
Line of credit facility, maximum borrowing capacity (up to)     $ 49,000,000.0   $ 49,000,000.0  
Adjusted quick ratio         1.75  
Proceeds from borrowings on debt $ 3,000,000.0 $ 15,000,000.0     $ 18,000,000 $ 50,000,000
Repayment of debt         21,786,000 26,893,000
Revolving Credit Facility            
Debt Instrument [Line Items]            
Line of credit facility, maximum borrowing capacity (up to)     25,000,000.0   25,000,000.0  
First Term Loan            
Debt Instrument [Line Items]            
Debt instrument, face amount     15,000,000.0   15,000,000.0  
Repayment of debt     1,300,000 $ 1,300,000 2,500,000 1,300,000
Second Term Loan            
Debt Instrument [Line Items]            
Debt instrument, face amount     9,000,000.0   9,000,000.0  
Repayment of debt     $ 600,000 $ 600,000 $ 1,300,000 $ 600,000