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Summary of Significant Accounting Policies - Software Development Costs (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Unamortized software development costs	$ 28,512,000	$ 22,240,000	$ 17,490,000
Software development amortization expense	10,843,000	8,258,000	8,123,000
Software development impairment charges	900,000	0	500,000
Intangible assets
Software development impairment charges	$ 900,000	$ 0	$ 500,000
Software and Software Development Costs | Minimum
Intangible assets
Finite-Lived Intangible Asset, Useful Life	2 years
Software and Software Development Costs | Maximum
Intangible assets
Finite-Lived Intangible Asset, Useful Life	3 years

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Amount of expense for amortization of capitalized computer software costs.

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