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Revenue - Disaggregated by Timing of Recognition (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Disaggregation of Revenue        
Revenue $ 11,826 $ 8,646 $ 21,934 $ 18,672
Point in time        
Disaggregation of Revenue        
Revenue 11,183 8,180 21,226 17,631
Over time        
Disaggregation of Revenue        
Revenue $ 643 $ 466 $ 708 $ 1,041