Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Operating Loss Carryforwards [Line Items]
Valuation allowance	$ (7,094)	$ (5,919)
Unrecognized tax benefit	18,269	13,778	$ 14,139	$ 12,683
Unrecognized tax benefits that if recognized would reduce income tax expense	13,100
Reconciliation of Unrecognized Tax Benefit
Operating Loss Carryforwards [Line Items]
Unrecognized tax benefit	16,490	12,612	$ 12,689	$ 11,505
Federal
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	1,900	2,200
Foreign Tax Authority
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	$ 25,300	$ 20,800