Summary of Significant Accounting Policies - Components of Other Non-Operating (Income) Expense Recognized in Condensed Consolidated Financial Statements (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Nonoperating Income Expense [Abstract]
Interest Income	$ (129)	$ (72)	$ (263)	$ (479)
Foreign currency (gains) losses, net	75	166	449	344
Gain on sale of a private company investment	0	0	0	(1,001)
Other (income) expense, net	(65)	8	10	2
Other non-operating (income) expense, net	$ (119)	$ 102	$ 196	$ (1,134)