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Revenue (Tables)
6 Months Ended
Jun. 30, 2021
Revenue from Contract with Customer [Abstract]  
Contract with Customer, Asset and Liability [Table Text Block]
The following table provides information about contract assets and contract liabilities from contracts with customers:
 June 30, 2021December 31, 2020December 31, 2019
Contract assets$15,079 $15,020 $14,894 
Contract liabilities - current189,317 184,845 104,901 
Contract liabilities - non-current22,534 13,921 10,921