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Leases - Operating Lease Expense, Operating lease Cash Flows and Supplemental Cash flow Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Lessee, Lease, Description [Line Items]    
Total operating lease expense $ 5,936 $ 6,334
Operating cash outflows from operating leases 6,552 6,617
Operating lease right-of-use assets obtained in exchange for lease obligations 3,743 4,302
Cost of sales    
Lessee, Lease, Description [Line Items]    
Total operating lease expense 1,896 1,945
Selling, general and administrative expenses    
Lessee, Lease, Description [Line Items]    
Total operating lease expense $ 4,040 $ 4,389