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Revenue Recognition - Revenue by Timing of Transfer of Goods or Services (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Disaggregation of Revenue [Line Items]        
Total revenue $ 4,264 $ 1,890 $ 8,682 $ 5,409
Goods or services transferred at a point in time        
Disaggregation of Revenue [Line Items]        
Total revenue 1,614 409 4,021 2,362
Goods or services transferred over time        
Disaggregation of Revenue [Line Items]        
Total revenue $ 2,650 $ 1,481 $ 4,661 $ 3,047