A compressor may include first and second scroll members, first and second bearing housings, and a motor assembly. The first scroll member includes a first end plate and a first spiral wrap extending from the first end plate. The second scroll member includes a second end plate and a second spiral wrap extending from the second end plate and intermeshed with the first spiral wrap to define compression pockets therebetween. The first bearing housing supports the first scroll member for rotation about a first rotational axis. The second bearing housing may support the second scroll member for rotation about a second rotational axis that is parallel to and offset from the first rotational axis. The motor assembly may be disposed axially between the first and second bearing housings and may include a rotor attached to the first scroll member. The rotor may surround the first and second end plates.