Income Taxes - Summary of Income Tax Contingencies (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]
Unrecognized tax benefits, opening balance	$ 2,161	$ 2,947	$ 2,749
Gross increases in tax positions taken in a prior year	115		35
Gross decreases in tax positions taken in a prior year		(244)
Gross increases in tax positions taken in the current year	283	229	586
Lapse of applicable statute of limitations	(885)	(771)	(423)
Unrecognized tax benefits, ending balance	$ 1,674	$ 2,161	$ 2,947