Income Taxes - Reconciliation of Change in Federal and State 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 year	$ 1,051	$ 768	$ 909
Prior period tax positions	(18)	(10)	(251)
Current period tax positions	244	293	110
Balance at End of Year	1,277	1,051	768
Amount That Would Impact the Effective Tax Rate if Recognized	$ 1,027	$ 848	$ 607