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Revenue - Changes in contract assets and contract liabilities (Details)
$ in Thousands
3 Months Ended
Mar. 31, 2021
USD ($)
Contract assets  
Transferred to receivables from contract assets recognized at the beginning of the period $ (2,625)
Revenue recognized and not billed as of the end of the period 1,445
Net change in contract assets (1,180)
Contract liabilities  
Increases due to cash received, net of amounts recognized as revenue during the period 13,045
Revenue recognized that was included in the contract liability balance as of the beginning of the period (16,433)
Net change in contract liabilities $ (3,388)