Commitments and Contingencies Schedule of lease costs (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Lease, Cost [Abstract]
Operating lease fixed cost	$ 991	$ 1,106	$ 3,105	$ 3,257
Operating lease variable cost	364	263	968	860
Total operating lease cost	1,355	1,369	4,073	4,117
Amortization of ROU assets	699	707	2,115	1,628
Interest on lease liabilities	64	101	220	371
Total finance lease cost	$ 763	$ 808	$ 2,335	$ 1,999