Contract Balances (Details) - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Jan. 01, 2018
Revenue from Contract with Customer [Abstract]
Contract assets, net	$ 14,894,000	$ 9,330,000	$ 11,932,000
Contract with Customer, Liability, Current	44,001,000	36,461,000	48,268,000
Contract with Customer, Liability, Noncurrent	9,121,000	9,382,000	9,916,000
Change in Contract with Customer, Asset and Liability [Abstract]
Contract assets, net	14,894,000	9,330,000	$ 11,932,000
Revenue recognized during the period	$ 31,283,000	$ 38,410,000