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Fair Value Measurements - Carrying Amounts and Estimated Fair Values of Financial Instruments (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020	Jun. 30, 2020
Assets:
Cash	$ 27,741	$ 13,273
Restricted cash	7,921	7,020	$ 6,735
Loans held for investment, net	2,083,753	1,948,089
Loans held for investment, at fair value	1,370	1,539
Accrued interest receivables	11,094	11,373
Interest-only strips	81	238
Loans held for sale, net	7,916	13,106
Loans held for sale, net	7,916	13,106
Liabilities:
Secured financing, net	164,053	74,982
Warehouse repurchase facilities, net	151,872	75,923
Securitizations, net	1,558,163	1,579,019	$ 1,599,719
Accrued interest payable	5,506	5,503
Estimated Fair Value
Assets:
Cash	27,741	13,273
Restricted cash	7,921	7,020
Loans held for investment, net	2,186,434	2,003,301
Loans held for investment, at fair value	1,370	1,539
Accrued interest receivables	11,094	11,373
Interest-only strips	81	238
Loans held for sale, net	7,916	13,106
Loans held for sale, net	7,916	13,106
Liabilities:
Secured financing, net	173,031	78,000
Warehouse repurchase facilities, net	151,872	75,923
Securitizations, net	1,642,834	1,616,222
Accrued interest payable	5,506	5,503
Level 1 | Estimated Fair Value
Assets:
Cash	27,741	13,273
Restricted cash	7,921	7,020
Accrued interest receivables	11,094	11,373
Liabilities:
Accrued interest payable	5,506	5,503
Level 2 | Estimated Fair Value
Liabilities:
Warehouse repurchase facilities, net	151,872	75,923
Level 3 | Estimated Fair Value
Assets:
Loans held for investment, net	2,186,434	2,003,301
Loans held for investment, at fair value	1,370	1,539
Interest-only strips	81	238
Loans held for sale, net	7,916	13,106
Loans held for sale, net	7,916	13,106
Liabilities:
Secured financing, net	173,031	78,000
Securitizations, net	$ 1,642,834	$ 1,616,222

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