Income Taxes - Schedule of Unrecognized Tax Benefits (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]
Beginning balance of unrecognized tax benefits	$ 3,541	$ 1,487	$ 2,030
Gross increases based on tax positions related to current year	0	1,495	0
Gross decreases based on tax positions related to prior years	0	0	(634)
Gross increases based on tax positions related to prior year	97	559	91
Settlements with taxing authorities	0	0	0
Expiration of statue of limitations	0	0	0
Ending balance of unrecognized tax benefits	$ 3,638	$ 3,541	$ 1,487