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Revenue (Tables)
12 Months Ended
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]  
Contract with Customer, Asset and Liability The following table presents the ending and beginning balances of costs in excess of billings, billings in excess of cost and unearned revenue, respectively, as of December 31, (in thousands):
202020192018
Costs in excess of billings$26,915 $20,607 $22,634 
Billings in excess of cost(34,702)(47,598)(17,857)
Unearned revenue(21,325)(15,389)(10,847)
Revenue recognized that was included in billings in excess of cost and unearned revenue at the beginning of the periods, respectively, during the years ended December 31, (in thousands):
202020192018
Revenue recognized in the period from:
Amounts included in billings in excess of cost
at the beginning of the period
$45,536 $17,371 $10,097 
Amounts included in unearned revenue
at the beginning of the period
$12,229 $10,090 $2,988