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Income Taxes (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Operating Loss Carryforwards [Line Items]            
Provision (benefit) for income taxes $ (1,738) $ (2,277)   $ (4,651) $ (1,075)  
Effective income tax rate (percent) (13.60%) (15.90%)   (19.10%) (4.50%)  
Accrued interest and penalties related to unrecognized tax benefits $ 100     $ 100   $ 100
Existing Net Operating Loss, Canadian Subsidiary            
Operating Loss Carryforwards [Line Items]            
Unrecognized tax benefits     $ 300      
Valuation allowance 300     300   300
State Research Tax Credit Carryforward            
Operating Loss Carryforwards [Line Items]            
Unrecognized tax benefits           1,300
Valuation allowance $ 1,300     1,300   $ 1,300
Research Tax Credit Carryforward            
Operating Loss Carryforwards [Line Items]            
Unrecognized tax benefits       $ 1,500 $ 1,900