Income Taxes - Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Effective Income Tax Rate Reconciliation, Percent [Abstract]
U.S. Operations	$ 46,970	$ 8,030	$ 37,466
Foreign Operations	5,487	3,677	3,461
Income before income tax	$ 52,457	$ 11,707	$ 40,927
Federal statutory rate	21.00%	21.00%	21.00%
Provision for income taxes at federal statutory rate	$ 11,016	$ 2,458	$ 8,595
State taxes, net of federal benefit	1,434	989	594
Foreign tax rate differential	4	(33)	(50)
Change in valuation allowance	(2)	(10,112)	(8,497)
Interest on Series B redeemable preferred stock	0	0	105
Unrealized loss (gain) on financial instrument obligation	0	(336)	1,111
Excess tax benefit recognized	(413)	(44)	(1,175)
Foreign tax credit	(568)	0	(358)
Global intangible low taxed income	586	637	456
Prior year adjustment	16	429	0
Change in unrecognized tax benefits	969	(715)	634
Nondeductible compensation	414	402	136
Other	255	88	186
Total	$ 13,711	$ (6,237)	$ 1,737