Revenue from Contracts with Customers - Narrative (Details)	3 Months Ended
	Mar. 31, 2021 USD ($) sales_force	Mar. 31, 2020 USD ($)	Dec. 31, 2020 USD ($)
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Number Of Sales Forces | sales_force	1
Contract liabilities	$ (8,300,000)		$ (7,000,000.0)
Customer deposits	1,332,000		1,631,000
Performance obligation satisfied in previous period	3,300,000
Cash payments received form customers	4,300,000
Contract assets	$ 300,000		$ 0
Revenue, Performance Obligation, Description of Payment Terms	45 days
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	$ 1,000,000.0
UNITED STATES
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Revenues	18,800,000	$ 18,900,000
Total Products And Services
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Remaining performance obligation	$ 9,600,000