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Stock-Based Compensation - Restricted Stock Units (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
RSUs and PSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares granted in period (in shares)     194,000    
Share-based compensation options vested in period (in shares)     158,000    
Stock-based compensation expense $ 3,700 $ 3,200 $ 6,800 $ 4,400  
Remaining stock-based compensation expense for unvested shares, not yet recognized $ 39,400   $ 39,400    
Stock-based compensation expense, weighted average recognition period     2 years 7 months 6 days    
Restricted Stock Units (RSUs)          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares granted in period (in shares)     159,000    
Vesting period     4 years    
PSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares granted in period (in shares)     35,000    
Percent of targeted performance metric 100.00%   100.00%    
Share-based compensation options vested in period (in shares)     50,000    
Percent of achievement of award target performance metric         106.00%
PSUs | Executive          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares granted in period (in shares)     7,688    
Stock-based compensation expense     $ 500    
PSUs | Vesting Tranche One          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Performance based cash bonus payment percent         12.00%
PSUs | Minimum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Percent of targeted performance metric 0.00%   0.00%    
PSUs | Minimum | Vesting Tranche One          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Percent of targeted performance metric 100.00%   100.00%    
Performance based cash bonus payment percent     0.00%    
PSUs | Maximum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Percent of targeted performance metric 100.00%   100.00%    
PSUs | Maximum | Vesting Tranche One          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Percent of targeted performance metric 150.00%   150.00%    
Performance based cash bonus payment percent     65.00%    
PSUs Granted in 2021          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares granted in period (in shares)     34,000    
PSUs Granted in 2020          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares granted in period (in shares)     12,000    
PSUs Granted in 2019          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares granted in period (in shares)     31,000    
PSUs Granted in 2018          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares granted in period (in shares)     35,000    
Performance Stock Units Granted in 2019 and 2018          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Percent of targeted performance metric 100.00%   100.00%    
Performance Stock Units Granted in 2019 and 2018 | Vesting Tranche One          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation options vested in period (in shares)     45,000    
Performance Stock Units Granted in 2019 and 2018 | Vesting Tranche Two          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation options vested in period (in shares)     39,000    
Performance Stock Units Granted in 2019 and 2018 | Vesting Tranche Three          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation options vested in period (in shares)     28,000    
Performance Stock Units Granted in 2019 and 2018 | Minimum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Percent of targeted performance metric 0.00%   0.00%    
Percent of cash bonus payments on initial targets, percent     0.00%    
Performance Stock Units Granted in 2019 and 2018 | Minimum | Vesting Tranche One          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Percent of targeted performance metric 100.00%   100.00%    
Performance Stock Units Granted in 2019 and 2018 | Maximum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Percent of targeted performance metric 100.00%   100.00%    
Percent of cash bonus payments on initial targets, percent     65.00%    
Performance Stock Units Granted in 2019 and 2018 | Maximum | Vesting Tranche One          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Percent of targeted performance metric 150.00%   150.00%