Income Taxes - Reconciliation of Total Amounts of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of period	$ 9,354	$ 8,418	$ 2,886
Gross increases—tax positions in prior years	220	0	3,259
Gross decreases—tax positions in prior years	0	(760)	(8)
Gross increases—tax positions in current year	1,678	1,703	2,284
Settlements	0	(4)	0
Lapse of statute of limitations	(1,467)	(3)	(3)
Balance at end of period	$ 9,785	$ 9,354	$ 8,418