Debt and Financing Arrangements - Summary of Recognized Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Debt Instrument [Line Items]
Total interest expense	$ 816	$ 974	$ 2,074	$ 1,119	$ 1,256	$ 1,521	$ 1,587	$ 1,401	$ 4,983	$ 5,765	$ 6,645
2018 credit facility
Debt Instrument [Line Items]
Total interest expense									4,919	5,672	6,509
Other line of credit
Debt Instrument [Line Items]
Total interest expense									1	22	1
Other
Debt Instrument [Line Items]
Total interest expense									$ 63	$ 71	$ 135