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Compensation Arrangements - 401(k) Defined Contribution Plan (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Defined Benefit Plan Disclosure [Line Items]      
Maximum 401 (k) plan contribution rates as percentage of employees earnings 75.00%    
Employer matching contribution, maximum (percentage) 100.00%    
Employer 401 (k) matching contribution to employee, 50% Maximum 50.00%    
Initial employer 401(k) matching contribution to employee (percentage) 4.00%    
Compensation expense related to 401(k) savings plan $ 2.5 $ 2.2 $ 1.9
Maximum      
Defined Benefit Plan Disclosure [Line Items]      
Initial employer 401(k) matching contribution to employee (percentage) 3.00%    
Minimum      
Defined Benefit Plan Disclosure [Line Items]      
Initial employer 401(k) matching contribution to employee (percentage) 2.00%