Description of Business and Summary of Significant Accounting Policies - Cash, Cash Equivalents, and Restricted Cash Shown in the Statement of Cash Flows (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020	Jun. 30, 2020	Dec. 31, 2019
Accounting Policies [Abstract]
Cash and cash equivalents	$ 85,069	$ 105,035	$ 77,315
Restricted cash	8,440	8,519	7,883
Restricted cash included in other long-term assets	6,856		4,200
Total cash, cash equivalents, and restricted cash shown in the Condensed Consolidated Statement of Cash Flows	$ 100,365	$ 120,213	$ 89,398	$ 111,369