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Income Taxes - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Income Taxes [Line Items] |  |  |
Valuation allowance | $ 27,906 | $ 24,797 |
Increase in valuation allowance | 3,100 | 7,500 |
Unrecognized tax benefits including interest and penalties | 3,100 | 4,300 |
Interest and penalties |  | 200 | $ 500
Unrecognized tax benefits that would impact effective tax rate | 3,000 | 4,300 | 4,300
Deferred tax liability related to state tax liabilities on future distributions | 2,100 | $ 1,700 | $ 1,200
Federal |  |  |
Income Taxes [Line Items] |  |  |
Valuation allowance | 13,300 |  |
State |  |  |
Income Taxes [Line Items] |  |  |
Net operating losses | 37,300 |  |
Valuation allowance | 14,400 |  |
Foreign |  |  |
Income Taxes [Line Items] |  |  |
Net operating losses | 500 |  |
Valuation allowance | 300 |  |
Research and experimentation | Federal |  |  |
Income Taxes [Line Items] |  |  |
Income tax credit carryforwards | 3,700 |  |
Research and experimentation | State |  |  |
Income Taxes [Line Items] |  |  |
Income tax credit carryforwards | $ 11,300 |  |

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- Definition [Line Items] for Income Taxes [Table] + References No definition available. + Details
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- Definition Unrecognized Tax Benefits, Including Income Tax Interest and Penalties Accrued + References No definition available. + Details
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- Definition Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c) -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32537-109319 + Details
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- Definition Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32559-109319 + Details
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- Definition The amount of the tax credit carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32559-109319 + Details
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- Definition Amount of expense for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (c) -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32718-109319 + Details
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- Definition The total amount of unrecognized tax benefits that, if recognized, would affect the effective tax rate. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=84230637&loc=SL6600010-109319 + Details
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- Definition Amount of increase (decrease) in the valuation allowance for a specified deferred tax asset. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32537-109319 + Details
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