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Leases - Lease Cost and Other Lease Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Lease Costs      
Operating lease costs $ 2,524 $ 2,364  
Variable lease costs 416 432  
Short-term lease costs 35 84  
Net lease cost 2,975 2,880 $ 2,400
Cash paid for amounts included in the measurement of lease liabilities      
Operating lease cash flows - Fixed payments 2,526 2,296  
Operating lease cash flows - Liability reduction 2,289 2,010  
Right of use assets obtained during the period in exchange for operating lease liabilities $ 743 $ 923  
Weighted average lease term (in years) 5 years 11 months 4 days 7 years 2 months 12 days  
Weighted average discount rate (in percent) 2.82% 3.08%