Summary of Significant Accounting Policies - Schedule of Changes in Allowance for Doubtful Accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Allowance for Doubtful Accounts Receivable
Balance at beginning of year	$ 224	$ 360	$ 387
Provision and reserve adjustments	356	(132)
Write-offs less recoveries	(28)	(4)	(27)
Balance at end of year	$ 552	$ 224	$ 360