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Stock Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term	8 years 9 months	8 years 9 months
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Weighted Average Remaining Contractual Term	7 years 11 months
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Remaining Contractual Term	7 years 11 months
Payment, Tax Withholding, Share-based Payment Arrangement	$ 112	$ 296	$ 418
Employee
Share-based Compensation Arrangement by Share-based Payment Award
Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount	1,798
Share-based Payment Arrangement, Expense	876	2,019	1,095
Share-based Payment Arrangement, Expense, after Tax	692	1,595	865
Director
Share-based Compensation Arrangement by Share-based Payment Award
Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount	135
Share-based Payment Arrangement, Expense	506	988	1,319
Share-based Payment Arrangement, Expense, after Tax	$ 400	$ 781	$ 1,042

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Amount of cash outflow to satisfy grantee's tax withholding obligation for award under share-based payment arrangement.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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