Accounts Receivable and Contract Assets, Net - Schedule of Changes in Sales Reserve (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Accounts Receivable Net [Abstract]
Balance, beginning of period	$ (400)	$ (375)	$ (175)	$ (175)
Additions, net	20	225	(239)	25
Write-offs	130	0	164
Balance, end of period	$ (250)	$ (150)	$ (250)	$ (150)