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Related Party Transactions - Transactions with Joint Ventures (Details) - USD ($)
$ in Thousands
1 Months Ended 12 Months Ended
Dec. 31, 2012
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2015
Dec. 31, 2018
Related Party Transaction [Line Items]          
Other income, net   $ 1,240 $ 677    
Corporate Joint Venture          
Related Party Transaction [Line Items]          
Other income, net   $ 300 $ 700    
Green Power | Corporate Joint Venture          
Related Party Transaction [Line Items]          
Investment amount with related party $ 900        
Percent of noncontrolling interest 50.00%        
Doosan-PSI, LLC | Corporate Joint Venture          
Related Party Transaction [Line Items]          
Investment amount with related party       $ 1,000  
Percent of noncontrolling interest         50.00%
MAT-PSI Holdings, LLC | Green Power | Corporate Joint Venture          
Related Party Transaction [Line Items]          
Ownership percentage 100.00%