Summary of Significant Accounting Policies - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Deferred Revenue Arrangement [Line Items]
Revenues	$ 2,954	$ 1,804
Recurring revenue
Deferred Revenue Arrangement [Line Items]
Revenues	1,409	862
Non-recurring revenue
Deferred Revenue Arrangement [Line Items]
Revenues	$ 1,545	$ 942