Income Taxes - Reconciliation 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]
Balance as of the beginning of the year	$ 1,966	$ 1,734	$ 1,790
Increases related to prior year tax positions	205	109	0
Decreases related to prior year tax positions	0	0	(152)
Increases related to current year tax positions	151	123	96
Settlements	0	0	0
Lapse of statute	0	0	0
Balance as of the end of the year	$ 2,322	$ 1,966	$ 1,734