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Share-based Compensation - Summary of Share-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2021 | Mar. 31, 2020
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Total non-cash stock compensation | $ 1,576 | $ 1,984
Continuing operations |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Total non-cash stock compensation | 1,334 | 1,539
Continuing operations | Stock options, net of estimated forfeitures |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Total non-cash stock compensation | 176 | 345
Continuing operations | Restricted stock awards |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Total non-cash stock compensation | 1,158 | 1,194
Discontinued operations |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Total non-cash stock compensation | $ 242 | $ 445

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