Leases - Summary of Supplemental Balance Sheet Information (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020	Jun. 30, 2020
Leases, Operating [Abstract]
Operating lease right-of-use assets	$ 16,753	$ 17,209	$ 15,979
Operating lease liabilities	$ 16,919	$ 17,351	$ 16,014
Weighted-average remaining lease term (in years)	6 years 2 months 12 days	7 years 3 months 18 days	6 years 9 months 18 days
Weighted-average discount rate	2.63%	2.85%	2.77%