Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Reconciliation of the change in unrecognized tax benefits
Balance at the beginning of the period	$ 2,695	$ 5,872	$ 4,645
Increases for tax positions related to the current year	282	444	903
Increases for tax positions related to prior years	1,178	445	1,438
Decreases for tax positions related to prior years	(261)	(1,498)	(970)
Settlements with taxing authorities	(2,317)	(2,479)	0
Decreases related to lapses of applicable statutes of limitation	(78)	(89)	(144)
Balance at the end of the period	$ 1,499	$ 2,695	$ 5,872