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Revenue Recognition - Schedule of Net Under (Over) Billings (Details) - USD ($) $ in Thousands | Mar. 31, 2021 | Dec. 31, 2020
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Revenue from Contract with Customer [Abstract] |  |
Costs and estimated earnings in excess of billings on uncompleted contracts (contract assets) | $ 27,641 | $ 24,334
Billings in excess of costs and estimated earnings on uncompleted contracts (contract liabilities) | (4,931) | (4,718)
Net under billings | $ 22,710 | $ 19,616

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