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Debt - Additional Information (Details)
3 Months Ended 6 Months Ended
Jun. 30, 2021
USD ($)
Jun. 30, 2020
USD ($)
Jun. 30, 2021
USD ($)
Jun. 30, 2020
USD ($)
Dec. 31, 2020
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    
Repayment of debt     $ 3,786,000 $ 21,786,000  
Revolving Credit Facility          
Debt Instrument [Line Items]          
Line of credit facility, maximum borrowing capacity (up to) 25,000,000.0   25,000,000.0    
Long-term line of credit 0   0   $ 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 2,500,000 $ 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   $ 1,300,000