Reconciliation of Total Amounts of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Abstract]
Beginning balance of unrecognized tax benefits	$ 4,929	$ 4,725	$ 4,089
Additions based on tax positions related to the current year	476	727	394
Additions for tax positions of prior years	356	5	655
Reductions to tax positions of prior years	(5)	(31)	(69)
Reductions to tax positions resulting from a lapse of the applicable statute of limitations	(498)	(497)	(239)
Settlements with tax authorities			(105)
Ending balance of unrecognized tax benefits	$ 5,258	$ 4,929	$ 4,725