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Revenue from Contracts with Customers Revenue from Contracts with Customers - Amortized and Capitalized Costs (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Capitalized Contract Cost [Roll Forward]        
Beginning Balance $ 15,290 $ 12,780 $ 14,669 $ 11,005
Contract payments 1,532 2,195 4,747 6,128
Contract amortization (724) (1,013) (3,318) (3,171)
Ending Balance $ 16,098 $ 13,962 $ 16,098 $ 13,962