Debt and Financing Arrangements - Summary of Recognized Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Debt Instrument [Line Items]
Total	$ 959	$ 2,074	$ 1,836	$ 3,193
2018 credit facility
Debt Instrument [Line Items]
Total	952	2,056	1,823	3,157
Other line of credit
Debt Instrument [Line Items]
Total			0	1
Other
Debt Instrument [Line Items]
Total	$ 7	$ 18	$ 13	$ 35