Debt and Financing Arrangements - Summary of Recognized Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Debt Instrument [Line Items]
Total	$ 1,016	$ 974	$ 2,852	$ 4,167
2018 credit facility
Debt Instrument [Line Items]
Total	1,010	955	2,833	4,112
Other line of credit
Debt Instrument [Line Items]
Total			0	1
Other
Debt Instrument [Line Items]
Total	$ 6	$ 19	$ 19	$ 54