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Revenue - Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020
Disaggregation of Revenue [Line Items] |  |  |  |  |
Total contract assets | $ 1,502 |  | $ 1,502 |  | $ 412
Deferred revenue | 8,978 |  | 8,978 |  | 3,983
Deferred revenue - non-current | 6,882 |  | 6,882 |  | 8,865
Total deferred revenue | 15,860 |  | 15,860 |  | 12,848
Deferred revenue recognized during the period | 3,300 | $ 1,000 | 2,900 | $ 600 |
Prepaid expenses and other current assets |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Contract assets - current | 672 |  | 672 |  | 118
Other assets |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Contract assets - non-current | 830 |  | 830 |  | 294
Accrued expenses and other current liabilities |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Deferred revenue | 8,978 |  | 8,978 |  | 3,983
Other liabilities |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Deferred revenue - non-current | $ 6,882 |  | $ 6,882 |  | $ 8,865

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