Other Comprehensive Income (Loss) - Summary of Other Comprehensive Loss and Tax Impact (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Equity [Abstract]
Net unrealized loss on available-for-sale securities, net of income taxes	$ (116)	$ (46)	$ (274)	$ (1)
Net unrealized gain (loss) on interest rate swaps, net of income taxes	281	(136)	1,359	(1,796)
Foreign currency translation	(6)	(4)	(14)	(18)
Total other comprehensive income (loss)	159	(186)	1,071	(1,815)
Unrealized loss on available-for-sale securities, income tax expense (benefit)	(44)	(17)	(103)	2
Unrealized gain (loss) on interest rate swaps, income tax expense (benefit)	$ 90	$ (45)	$ 436	$ (579)