Leases - Lease Expense and Supplemental Information (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Lease, Cost [Abstract]
Operating lease cost	$ 448	$ 511	$ 786	$ 968
Short-term lease cost	169	107	259	197
Sublease income	0	(32)	0	(64)
Total	617	586	1,045	1,101
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases	464	293	783	846
Right of use assets obtained in exchange for new operating lease liabilities	$ 2,955	$ 7,206	$ 4,625	$ 7,528