Revenue from Contracts with Customers Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Revenue	$ 117,316,000	$ 125,568,000	$ 106,732,000
Customer deposits	1,631,000	6,389,000
Contract Liabilities	7,000,000.0	5,000,000.0
Performance obligation satisfied in previous period	14,900,000
Cash payments received from customers	4,758,000	1,778,000	778,000
Contract assets	0
Remaining performance obligation	$ 8,600,000
Revenue, Performance Obligation, Description of Payment Terms	45 days
Proceeds from Customers	$ 12,200,000
United States
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Revenue	77,500,000	$ 83,900,000	$ 71,200,000
Calculated under Revenue Guidance in Effect before Topic 606 | Accounting Standards Update 2014-09
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Contract Liabilities	$ (2,700,000)