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Income Taxes - Changes in the Deferred Tax Assets Valuation Allowance (Details) - Valuation Allowance of Deferred Tax Assets - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]    
Balance at the beginning of the year $ 11,634 $ 9,723
Charged (Credited) to expenses (2,123) 2,032
Charged (Credited) to other account 634 (121)
Balance at end of year $ 10,145 $ 11,634