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Equity Transactions and Stock Incentive Plans - Summary of Share-based Compensation Costs by Award Type (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total share-based compensation costs | $ 9,525 | $ 10,045 | $ 9,641
Stock options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total share-based compensation costs | 1,919 | 4,850 | 5,191
RSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total share-based compensation costs | 5,264 | 4,284 | 3,383
PSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total share-based compensation costs | $ 2,342 | $ 911 | $ 1,067

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