Leases and Commitments - Lease Term and Discount Rate (Details)	Dec. 31, 2020	Dec. 31, 2019
Weighted-average remaining lease term
Operating leases	4 years 2 months 12 days	4 years 9 months 18 days
Finance leases	2 years 6 months	2 years 7 months 6 days
Weighted-average discount rate
Operating leases	8.50%	8.50%
Finance leases	10.50%	11.20%