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Revenue - Schedule of Changes in Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2020	Dec. 31, 2019
Contract with Customer, Asset, after Allowance for Credit Loss [Abstract]
Accrued revenue	$ 1,617	$ 1,260
Costs and estimated profits in excess of billings	6,340	4,104
Contract assets	7,957	5,364
Increase in contract with customer assets	$ 2,593
Increase in contract with customer asset, percentage	48.00%
Contract with Customer, Liability [Abstract]
Deferred revenue	$ 5,495	4,877
Billings in excess of costs and profits recognized	169	5,911
Contract liabilities	5,664	$ 10,788
Decrease in contract with customer liabilities	$ (5,124)
Decrease in contract with customer liability, percentage	(47.00%)

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Contract with Customer, Asset, Cumulative Catch-up Adjustment to Revenue, Change in Measure of Progress, Percent

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Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in measure of progress which increases (decreases) right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time.

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Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as current.

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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable.

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Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in measure of progress which (increases) decreases obligation to transfer good or service to customer for which consideration from customer has been received or is due.

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