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Revenue - Collections on Remaining Contracts (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Revenues from External Customers and Long-Lived Assets [Line Items]        
Net sales $ 63,074 $ 64,303 $ 191,206 $ 179,686
Cost of sales 10,129 10,289 32,530 28,513
Gross Profit 52,945 54,014 158,676 151,173
Revenue Guidance Topic 606 Transition Period | Accounting Standards Update 2014-09        
Revenues from External Customers and Long-Lived Assets [Line Items]        
Net sales 303 1,039 914 7,240
Cost of sales 42 146 128 1,014
Gross Profit $ 261 $ 893 $ 786 $ 6,226