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Special Charges - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Restructuring Cost and Reserve [Line Items]        
Special charges $ 0 $ 7,103 $ 0 $ 7,103
Contract Termination        
Restructuring Cost and Reserve [Line Items]        
Special charges       4,700
Employee Severance        
Restructuring Cost and Reserve [Line Items]        
Special charges       $ 2,400