Accounts Receivable and Contract Assets, Net - Schedule of Accounts Receivable, Net (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Jun. 30, 2021	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Dec. 31, 2019
Accounts Receivable Net [Abstract]
Accounts receivable amortized cost	$ 91,492		$ 98,164
Allowance for credit losses	(5,281)	$ (5,243)	(3,788)	$ (2,597)	$ (2,257)	$ (1,125)
Net accounts receivable	$ 86,211		$ 94,376