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Income Taxes - Roll Forward of Unrecognized Tax Benefits and Associated Interest and Penalties Included in Balance Sheet (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]    
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued $ 1,000 $ 3,400
Balance 4,100 3,400
Unrecognized Tax Benefits, Period Increase (Decrease) 1,900 400
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations   300
Increase in current year tax positions 400  
Balance 6,400 4,100
Deferred Tax Liability Member    
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]    
Balance 700  
Balance 5,000 700
Receivables, net, current    
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]    
Balance 0  
Balance 400 0
Gross Unrecognized Tax Benefits, Excluding Interest and Penalties    
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]    
Balance 3,700 3,100
Unrecognized Tax Benefits, Period Increase (Decrease) 2,000 300
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations   300
Increase in current year tax positions 400  
Balance 6,100 3,700
Interest and Penalties    
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]    
Balance 400 300
Unrecognized Tax Benefits, Period Increase (Decrease) (100) 100
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations   0
Increase in current year tax positions 0  
Balance $ 300 $ 400