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Stock-Based Compensation - Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost        
Total stock-based compensation expense $ 3,027 $ 2,888 $ 9,862 $ 8,960
Equity awards        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost        
Total stock-based compensation expense 2,900 2,645 8,741 8,423
Liability awards        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost        
Total stock-based compensation expense $ 127 $ 243 $ 1,121 $ 537