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Commitments and Contingencies - Lease Cost (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Commitments and Contingencies Disclosure [Abstract]        
Operating lease cost $ 1,165 $ 1,051 $ 3,334 $ 3,123
Variable lease cost 1 0 4 0
Total operating lease cost 1,166 1,051 3,338 3,123
Finance lease cost:        
Amortization of right-of-use assets 41 43 129 128
Interest on finance lease liabilities 1 2 3 7
Total finance lease cost 42 45 132 135
Total lease cost $ 1,208 $ 1,096 $ 3,470 $ 3,258