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Leases - Lease Cost (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Leases [Abstract]      
Operating lease cost $ 4,717 $ 4,950  
Short-term Lease, Cost 49 95  
Variable lease cost 967 781  
Sublease income (55) (71)  
Total net lease cost 5,678 5,755  
Operating cash used for amounts included in the measurement of lease liabilities 4,881 4,858  
ROU assets obtained in exchange for lease liabilities, excluding adoption impact $ 1,265 $ 1,505 $ 0
Weighted average remaining lease term of operating leases, in years 7 years 2 months 12 days 8 years 1 month 6 days  
Weighted average discount rate of operating leases 3.12% 3.27%