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Revenue Recognition - Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Contract Assets      
Balance $ 2,028 $ 1,057 $ 0
Contract asset additions 256 1,097 1,057
Amounts transferred to receivables   (126)  
Revenue recognized (100)    
Balance 2,184 2,028 1,057
Contract Liabilities      
Balance 3,811 3,399 0
Customer prepayments 1,723 874 3,754
Revenue recognized (540)    
Revenue recognized   (462) (355)
Balance $ 4,994 $ 3,811 $ 3,399