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Revenue from Contracts with Customers (ASC 606) (Tables)
6 Months Ended
Jun. 30, 2021
Revenue from Contract with Customer [Abstract]  
Net Sales from Contracts with Customers
The following table summarizes net sales from contracts with customers for the three and six months ended June 30, 2021 and2020:

Three Months EndedSix Months Ended
June 30,June 30,
2021202020212020
Mobile connectivity product, transferred at point in time$7,292 $6,080 $13,380 $12,066 
Mobile connectivity product, transferred over time754 623 1,557 1,229 
Mobile connectivity service 25,709 22,483 49,325 44,787 
Inertial navigation product9,223 7,246 20,764 13,748 
Inertial navigation service385 494 629 1,664 
 Total net sales$43,363 $36,926 $85,655 $73,494