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Revenue - Schedule of Changes in Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Contract with Customer, Asset, after Allowance for Credit Loss [Abstract]
Accrued revenue	$ 1,132	$ 1,687
Costs and estimated profits in excess of billings	9,373	8,516
Contract assets	10,505	10,203
Increase in contract with customer assets	$ 302
Increase in contract with customer asset, percentage	3.00%
Contract with Customer, Liability [Abstract]
Deferred revenue	$ 8,240	7,863
Billings in excess of costs and profits recognized	2,621	1,817
Contract liabilities	10,861	$ 9,680
Increase in contract with customer liabilities	$ 1,181
Increase in contract with customer liability, percentage	12.00%

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- Definition

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- Definition

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.

+ References

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-Publisher FASB
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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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