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Commitments and Contingencies - Lease Cost (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Commitments and Contingencies Disclosure [Abstract]    
Minimum operating lease payments $ 663 $ 672
Variable operating lease payments 276 122
Short-term operating lease payments 124 313
ROU amortization of finance leases 109 133
Interest expense of finance leases 37 60
Total lease cost $ 1,209 $ 1,300
Weighted-average remaining lease term of operating leases 4 years 4 years 8 months 12 days
Weighted-average remaining lease term of finance leases 1 year 9 months 18 days 2 years 9 months 18 days
Weighted-average discount rate of operating leases 4.44% 4.44%
Weighted-average discount rate of finance leases 3.50% 3.50%