Contract Assets and Liabilities - Additional information (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019	Jan. 01, 2020	Dec. 31, 2019
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]
Total allowance for doubtful accounts	$ 502		$ 502		$ 400	$ 147
Revenues recognized during period	$ 31,300	$ 11,900	$ 57,700	$ 39,400