Income Taxes - Schedule of Changes in 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	$ 597	$ 469	$ 326
Additions for current year tax positions	131	106	142
Reductions for prior year tax positions			(14)
Ending balance (excluding interest and penalties)	728	575	454
Interest and penalties	20	22	15
Total	$ 748	$ 597	$ 469