You can also make Zathura get a gruvbox theme, something like this for gruvbox light:

set default-fg "#3C3836"
set default-bg "#FBF1C7"

set completion-fg "#3C3836"
set completion-bg "#FBF1C7"

set completion-highlight-fg "#FBF1C7"
set completion-highlight-bg "#689D6A"

set inputbar-fg "#3C3836"
set inputbar-bg "#FBF1C7"

set statusbar-fg "#3C3836"
set statusbar-bg "#FBF1C7"

set recolor-lightcolor "#FBF1C7" 
set recolor-darkcolor "#3C3836"

set highlight-color "#689D6A"
set highlight-active-color "#A3BE8C"

set recolor true

You can also save these settings to a different file and then use an include in the original zathurarc, i find this easier for theme switching.
I also have Gruvbox Dark if you are interested.