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Property, Plant and Equipment - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Property, Plant and Equipment [Line Items]          
Capitalized software development costs, additions $ 808 $ 348 $ 3,212 $ 1,846  
Amortization of capitalized software development costs 459 $ 377 1,404 $ 1,547  
Capitalized implementation costs related to cloud computing arrangements 464   464    
Cost of assets under finance leases 595   595    
Accumulated depreciation of assets under finance leases 187   187   $ 28
Prepaid expenses and other current assets          
Property, Plant and Equipment [Line Items]          
Capitalized implementation costs related to cloud computing arrangements 140   140    
Other long-term assets          
Property, Plant and Equipment [Line Items]          
Capitalized implementation costs related to cloud computing arrangements $ 324   $ 324