Income Taxes - Reconciliation of Gross 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]
Unrecognized tax benefits beginning balance	$ 704	$ 22	$ 1,022
Additions based on tax positions related to the current year	503	674	338
Adjustments to Net parent investments			(1,338)
Additions for tax positions of prior years	148	8
Unrecognized tax benefits ending balance	$ 1,355	$ 704	$ 22