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Revenue from Contract with Customers - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Disaggregation of Revenue      
Accounts receivable, trade, net of allowance of $3,370 and $2,210, respectively $ 104,425 $ 144,865  
Contract liability with customer 4,600 11,400  
Deferred revenue recognized in earnings 19,489 42,268 $ 28,428
Deferred revenue 12,732 36,578 $ 36,571
Contract with Customers      
Disaggregation of Revenue      
Accounts receivable, trade, net of allowance of $3,370 and $2,210, respectively $ 95,600 $ 139,400