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Revenue (Tables)
 9 Months Ended
Sep. 30, 2021
Revenue from Contract with Customer [Abstract]  
Contract with Customer, Asset and Liability [Table Text Block]
The following table provides information about contract assets and contract liabilities from contracts with customers:
 September 30, 2021December 31, 2020December 31, 2019
Contract assets$25,454 $15,020 $14,894 
Contract liabilities - current195,509 184,845 104,901 
Contract liabilities - non-current24,415 13,921 10,921