Leases - Components of Lease Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Lease, Cost [Abstract]
Operating lease cost	$ 1,439	$ 1,355
Short-term lease cost	167	129
Variable lease cost	72	146
Total lease cost	1,678	1,630
Cash paid for amounts included in the measurement of lease liabilities
Operating cash flows from operating leases	$ 1,583	$ 1,380
Weighted-average remaining lease term — operating leases	5 years 7 months 6 days	5 years 10 months 24 days
Weighted-average discount rate — operating leases	4.20%	4.70%