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Revenue (Tables)
3 Months Ended
Mar. 31, 2021
Revenue from Contract with Customer [Abstract]  
Schedule of Changes in Contract Assets and Contract Liabilities The following table reflects the changes in our contract assets and contract liabilities balances for the three months ended March 31, 2021 (in thousands):
March 31, 2021December 31, 2020Increase
$%
Accrued revenue$1,132 $1,687 
Costs and estimated profits in excess of billings9,373 8,516 
Contract assets$10,505 $10,203 $302 %
Deferred revenue$8,240 $7,863 
Billings in excess of costs and profits recognized2,621 1,817 
Contract liabilities$10,861 $9,680 $1,181 12 %