Leases - Summary of Supplemental Balance Sheet Information (Details) - USD ($) $ in Thousands	Sep. 30, 2020	Dec. 31, 2019	Sep. 30, 2019
Leases, Operating [Abstract]
Operating lease right-of-use assets	$ 16,703	$ 17,006	$ 12,544
Operating lease liabilities	$ 16,817	$ 17,007	$ 12,557
Weighted-average remaining lease term (in years)	6 years 6 months	7 years 3 months 18 days	5 years 3 months 18 days
Weighted-average discount rate	2.81%	3.07%	3.21%