Contract Assets and Liabilities Current and Long-term Contract Liabilities (Details) $ in Thousands	Dec. 31, 2020 USD ($)
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2020-01-01
Revenue Initial Application Period Cumulative Effect Transition [Line Items]
Contract liability	$ 953
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	$ 293
Revenue, remaining performance obligation, expected timing of satisfaction, period	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2022-01-01
Revenue Initial Application Period Cumulative Effect Transition [Line Items]
Contract liability	$ 0
Revenue, remaining performance obligation, expected timing of satisfaction, period