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Commitments and Contingencies - Lease Cost (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Commitments and Contingencies Disclosure [Abstract]        
Operating lease cost $ 1,114 $ 1,067 $ 2,169 $ 2,071
Variable lease cost 2 0 3 0
Total operating lease cost 1,116 1,067 2,172 2,071
Finance lease cost:        
Amortization of right-of-use assets 44 43 88 85
Interest on finance lease liabilities 1 2 2 5
Total finance lease cost 45 45 90 90
Total lease cost $ 1,161 $ 1,112 $ 2,262 $ 2,161