Contract Assets and Liabilities Current and Long-term Contract Liabilities (Details) $ in Thousands	Dec. 31, 2019 USD ($)
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2019-01-01
Revenue Initial Application Period Cumulative Effect Transition [Line Items]
Contract liability	$ 4,473
Revenue, remaining performance obligation, expected timing of satisfaction, period	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2020-01-01
Revenue Initial Application Period Cumulative Effect Transition [Line Items]
Contract liability	$ 383
Revenue, remaining performance obligation, expected timing of satisfaction, period	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2021-01-01
Revenue Initial Application Period Cumulative Effect Transition [Line Items]
Contract liability	$ 0
Revenue, remaining performance obligation, expected timing of satisfaction, period