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Commitments and Contingencies - Lease related assets and liabilities (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Lease-related assets and liabilities      
Right of use operating lease assets $ 19,565   $ 20,132
Operating lease liabilities, Current 1,966   2,006
Operating lease liabilities, non-current 18,910   19,388
Present value of future minimum lease payments $ 20,876   $ 21,394
Weighted average remaining lease term 9 years 2 months 12 days   9 years 4 months 24 days
Weighted average discount rate 4.40%   4.40%
Cash paid for operating lease liabilities $ 789 $ 463  
Non-cash right of use assets obtained in exchange for new operating lease obligations $ 124 $ 295