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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