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Revenue from Contracts with Customers (Details 2) - USD ($)
3 Months Ended 12 Months Ended
Dec. 31, 2018
Dec. 31, 2018
Jan. 01, 2018
Dec. 31, 2017
Contract with Customer [Line Items]        
Contract assets $ 2,362,000 $ 2,362,000 $ 4,720,000 $ 0
Deferred revenue and customer advances 6,034,000 6,034,000 5,906,000 $ 5,342,000
Revenue recognized from deferred revenue   4,000,000    
Amount of contract assets reclassified to receivables   4,700,000    
Capitalized contract costs 3,800,000 3,800,000    
Impairment 100,000      
Satisfied in Previous Period        
Contract with Customer [Line Items]        
Revenue recognized from deferred revenue   0    
Other long-term liabilities        
Contract with Customer [Line Items]        
Deferred revenue, included in other long-term liabilities $ 578,000 $ 578,000 $ 341,000