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Stock Based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Obligation with Joint and Several Liability Arrangement [Line Items] |  |  |  |
Stock based compensation | $ 4,251 | $ 1,123 | $ 5,571 | $ 2,212
Cost of sales - contracts |  |  |  |
Obligation with Joint and Several Liability Arrangement [Line Items] |  |  |  |
Stock based compensation | 116 | 101 | 184 | 199
Selling, general and administrative |  |  |  |
Obligation with Joint and Several Liability Arrangement [Line Items] |  |  |  |
Stock based compensation | $ 4,135 | $ 1,022 | $ 5,387 | $ 2,013

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