Summary of Significant Accounting Policies - Schedule of Cash, Cash Equivalents and Restricted Cash (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020	Jun. 30, 2020	Dec. 31, 2019
Accounting Policies [Abstract]
Cash and cash equivalents	$ 37,690	$ 27,742	$ 12,369
Restricted cash	1,128		1,439
Total cash, cash equivalents and restricted cash as shown on the statement of cash flows	$ 38,818	$ 29,218	$ 13,808	$ 20,039