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Summary of Significant Accounting Policies - Accrual for loss contracts (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Accrual for loss contracts      
Beginning balance $ 3,702 $ 5,345  
Provision (benefit) for loss accrual 35,473 (394) $ 5,345
Released to service cost of sales (2,348) (1,249)  
Released to provision for warrants (12,814)    
Ending balance $ 24,013 $ 3,702 $ 5,345