Income Taxes - Schedule of Changes in Gross Liability for Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Balance at beginning of year	$ 1,165	$ 1,121
Increases in unrecognized tax benefits as a result of positions taken during the prior year		88
Increases in unrecognized tax benefits as a result of positions taken during the current year	209	235
Reductions to unrecognized tax benefits as a result of a lapse of the applicable statute of limitations	(251)	(279)
Balance at end of year	$ 1,123	$ 1,165