Quarterly Financial Data (Unaudited) - Schedule of Condensed Statements of Cash Flows (Details) (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2021	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019
Statement Of Cash Flows [Abstract]
Cash and Cash Equivalents at beginning balance	$ 16,158	$ 33,079	$ 14,085	$ 18,699	$ 15,345	$ 32,534	$ 22,315	$ 14,149	$ 20,074
Cash and Cash Equivalents at ending balance	17,746	16,158	33,079	14,085	18,699	15,345	32,534	22,315	14,149
Restricted cash, beginning balance	11,364	11,662	12,103	11,096	13,284	13,465	13,733	13,880	13,155
Restricted cash, ending balance	$ 9,813	$ 11,364	$ 11,662	$ 12,103	$ 11,096	$ 13,284	$ 13,465	$ 13,733	$ 13,880