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Debt - Additional Information (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2020
USD ($)
Sep. 30, 2019
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2019
USD ($)
Debt Instrument [Line Items]        
Line of credit facility, maximum borrowing capacity (up to) $ 49,000,000.0   $ 49,000,000.0  
Adjusted quick ratio     1.75  
Proceeds from borrowings on debt     $ 18,000,000 $ 50,000,000
Repayment of debt     23,729,000 53,786,000
Revolving Credit Facility        
Debt Instrument [Line Items]        
Line of credit facility, maximum borrowing capacity (up to) 25,000,000.0   25,000,000.0  
First Term Loan        
Debt Instrument [Line Items]        
Debt instrument, face amount 15,000,000.0   15,000,000.0  
Repayment of debt 1,300,000 $ 1,300,000 3,800,000 2,500,000
Second Term Loan        
Debt Instrument [Line Items]        
Debt instrument, face amount 9,000,000.0   9,000,000.0  
Repayment of debt $ 600,000 $ 600,000 $ 1,900,000 $ 1,300,000