Contract Assets and Liabilities - Additional information (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2020	Mar. 31, 2019	Dec. 31, 2019
Contract Assets and Liabilities
Allowance for doubtful accounts associated with contract assets	$ 432		$ 147
Revenues recognized during period	$ 25,700	$ 21,800

Amount of accumulated credit loss for right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as current.

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 45
-Paragraph 3
-URI http://asc.fasb.org/extlink&oid=118944033&loc=SL49130533-203044

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 326
-SubTopic 20
-Section 45
-Paragraph 1
-URI http://asc.fasb.org/extlink&oid=118955202&loc=SL82895884-210446

Name:	us-gaap_ContractWithCustomerAssetAccumulatedAllowanceForCreditLossCurrent
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant