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Revenue Recognition - Changes in Contract Assets (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Revenue From Contract With Customer [Abstract]        
Unbilled receivables, Balance at Beginning of Period $ 2,482 $ 3,225 $ 2,229 $ 3,315
Unbilled receivables, Revenue Recognized In Advance of Billings 1,389 77 2,079 260
Unbilled receivables, Billings (1,004) (1,284) (1,441) (1,557)
Unbilled receivables, Balance at End of Period $ 2,867 $ 2,018 $ 2,867 $ 2,018