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Summary of Significant Accounting Policies - Summarizes Depreciation and Finance Lease Amortization Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Accounting Policies [Abstract]        
Cost of revenues $ 5,341 $ 5,867 $ 10,560 $ 10,495
Operating expense 13,080 14,115 25,882 28,566
General and administrative expense $ 715 $ 835 $ 1,595 $ 1,636