Income Taxes Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Gross unrecognized tax benefits, beginning of year	$ 1,780	$ 1,724
Increases related to prior year income tax positions	0	7
Increases related to current year income tax positions	57	49
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions	(1)	0
Gross unrecognized tax benefits, end of year	$ 1,836	$ 1,780