Accounts Receivable and Contract Assets, Net - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Accounts Notes And Loans Receivable [Line Items]
Credit loss expense	$ 321	$ 372	$ 1,738	$ 1,700
Receivable and Contract Assets
Accounts Notes And Loans Receivable [Line Items]
Credit loss expense	$ 800	$ 200	$ 2,300	$ 1,300