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Fair Value Measurement - Level 3 Liability (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019
Accounts payable and accrued expenses |  |
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items] |  |
Short-term portion of deferred payments | $ 1,600 |
Deferred payments |  |
Schedule of changes in fair value of level 3 liability |  |
Balance as of the beginning of period | 3,257 | $ 4,120
Amounts paid | (1,628) | (1,579)
Other adjustments to fair value | 29 | 716
Balance at end of period | $ 1,658 | $ 3,257

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