Accounts Receivable and Contract Assets, Net - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Accounts Notes And Loans Receivable [Line Items]
Credit loss expense	$ 405	$ 585	$ 1,417	$ 1,328
Receivable and Contract Assets
Accounts Notes And Loans Receivable [Line Items]
Credit loss expense	$ 100	$ 400	$ 1,500	$ 1,100