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Revenue - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Disaggregation of Revenue      
Total net sales $ 116,080 $ 121,907  
Contract with customer, assets 37,673   $ 37,843
Contract with customer, liability 6,030   $ 1,324
Contract assets transferred to receivables 11,310    
Cash proceeds from liability contract 5,425    
Revenue recognized from contract liability $ 676 $ 2,614  
Over time      
Disaggregation of Revenue      
Customer revenue transferred (percentage) 25.30% 26.90%  
Total net sales $ 29,372 $ 32,777  
Over time | Performance Based      
Disaggregation of Revenue      
Total net sales 21,108 24,432  
Over time | Delivery Based      
Disaggregation of Revenue      
Total net sales $ 8,264 $ 8,345  
Point in time      
Disaggregation of Revenue      
Customer revenue transferred (percentage) 74.70% 73.10%  
Total net sales $ 86,708 $ 89,130