Revenues (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020	Dec. 31, 2020
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Performance obligations satisfied or partially satisfied in previous periods	$ 3,900	$ 8,300
Unfulfilled performance obligations			$ 8,500
Contract asset	1,800		2,600
Contract liability	1,000		$ 0
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-04-01
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Unfulfilled performance obligations	$ 7,900
Performance obligation expected duration	24 months