Summary of Significant Accounting Policies - Opening and Closing Balances of the Company's Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Contract assets, current portion
Beginning balance	$ 0
Ending balance	106
Change	106
Contract assets
Beginning balance	3,997
Ending balance	4,151
Change	154
Deferred Revenue, Current
Beginning balance	14,870
Ending balance	18,401
Change	3,531
Deferred Revenue
Beginning balance	23,862
Ending balance	24,803
Change	941
Deferred revenue related to leases, current portion	1,300	$ 1,700
Deferred revenue related to leases, noncurrent portion	$ 2,500	$ 2,700