Revenue from Contracts with Customers - Narrative (Details)	3 Months Ended		9 Months Ended
	Sep. 30, 2021 USD ($)	Sep. 30, 2020 USD ($)	Sep. 30, 2021 USD ($) sales_force	Sep. 30, 2020 USD ($)	Dec. 31, 2020 USD ($)
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Number Of Sales Forces | sales_force			1
Contract liabilities	$ (8,500,000)		$ (8,500,000)		$ (7,000,000)
Customer deposits	1,327,000		1,327,000		1,631,000
Performance obligation satisfied in previous period			9,900,000
Cash payments received form customers			11,100,000
Contract assets	600,000		$ 600,000		$ 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	1,200,000		$ 1,200,000
UNITED STATES
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Revenues	23,900,000	$ 20,500,000	65,000,000	$ 54,300,000
Total Products And Services
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Remaining performance obligation	$ 9,900,000		$ 9,900,000