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Summary of Significant Accounting Policies (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
--- | --- | ---
Dec. 31, 2020 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Dec. 31, 2019 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Revenue | $ 61,913 | $ 56,915 | $ 59,930 | $ 63,989 | $ 59,947 | $ 57,399 | $ 58,297 | $ 48,384 | $ 242,747 | $ 224,027 | $ 231,201
Minimum |  |  |  |  |  |  |  |  |  |  |
License agreement, term of agreement |  |  |  |  |  |  |  |  | 1 year |  |
Long-duration contracts, assumptions by product and guarantee, discount rate | 3.00% |  |  |  |  |  |  |  | 3.00% |  |
Maximum |  |  |  |  |  |  |  |  |  |  |
License agreement, term of agreement |  |  |  |  |  |  |  |  | 10 years |  |
Long-duration contracts, assumptions by product and guarantee, discount rate | 5.00% |  |  |  |  |  |  |  | 5.00% |  |
Percentage of completion |  |  |  |  |  |  |  |  |  |  |
Revenue |  |  |  |  |  |  |  |  | $ 19,800 |  |

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