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Summary of Significant Accounting Policies - Contract Balances (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Accounts Receivable
Accounts receivable - contracts with customers	$ 3,359	$ 3,243
Accounts receivable - ASC 842	9,385	9,802
Total Accounts Receivable	12,744	13,045
Less: Allowance for doubtful accounts	(1,150)	(1,161)
Total Accounts Receivable, net	11,594	11,884
Deferred income	$ 693	$ 1,103

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