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Revenue - Disaggregated by Timing of Recognition (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Disaggregation of Revenue    
Revenue $ 10,108 $ 10,026
Point in time    
Disaggregation of Revenue    
Revenue 10,043 9,451
Over time    
Disaggregation of Revenue    
Revenue $ 65 $ 575