Income Taxes - Reconciliation of Change in Federal and State Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of year	$ 768	$ 909	$ 804
Prior period tax positions	(10)	(251)	(37)
Current period tax positions	293	110	142
Balance at End of Year	1,051	768	909
Amount That Would Impact the Effective Tax Rate if Recognized	$ 848	$ 607	$ 770