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Accounts Receivable and Contract Assets (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2021
Dec. 31, 2020
Accounts Receivable and Contract Assets [Abstract]    
Accounts receivable - customers $ 4,416 $ 5,633
Other receivables 314 206
Accounts receivable 4,730 5,839
Less: allowance for doubtful accounts (714) (655)
Accounts receivable, net 4,016 5,184
Unbilled revenue 2,876 $ 2,847
Change in accounts receivable - customers (1,217)  
Change in other receivables 108  
Change in accounts receivable (1,109)  
Change in allowance for doubtful accounts (59)  
Change in accounts receivable, net (1,168)  
Change in unbilled revenue $ 29