Debt - Components of Interest Expense on Debt (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Schedule of Long Term and Short Term Debt Instruments [Line Items]
Amortization of discount and cost of issuance of debt			$ 198	$ 100
Total	$ 530	$ 551	1,150	1,103
Other debt
Schedule of Long Term and Short Term Debt Instruments [Line Items]
Contractual interest	109	112	233	197
Amortization of discount and cost of issuance of debt	31	38	60	72
Total	140	150	293	269
Interest expense on Trinity Term Loan: | Loans
Schedule of Long Term and Short Term Debt Instruments [Line Items]
Contractual interest	324	388	719	807
Amortization of discount and cost of issuance of debt	66	13	138	27
Total	$ 390	$ 401	$ 857	$ 834