Summary of Significant Accounting Policies - The Balances in the Company's Accumulated Other Comprehensive Income (Loss) (Parenthetical) (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Reclassification from AOCI, Current Period, Tax [Abstract]
Amounts reclassified from accumulated other comprehensive income, tax	$ 24	$ 21	$ 24

Amount of tax expense (benefit) of reclassification adjustment from accumulated other comprehensive income (loss).

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section 45
-Paragraph 12
-URI http://asc.fasb.org/extlink&oid=118930883&loc=d3e640-108580

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section 45
-Paragraph 17A
-URI http://asc.fasb.org/extlink&oid=118930883&loc=SL34724391-108580

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 20
-Section 45
-Paragraph 11
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=109238882&loc=d3e39076-109324

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Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration