Income Taxes - Reconciliation of Beginning and Ending Amount of 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]
Beginning balance January 1	$ 3,680	$ 4,070	$ 2,722
Gross increases for tax positions of prior years	0	0	2,308
Gross decreases for tax positions of prior years	0	0	(229)
Settlements	(2,608)	(140)	(160)
Lapse of statute of limitations	0	(250)	(571)
Ending balance December 31	$ 1,072	$ 3,680	$ 4,070