Significant Changes in Contract Assets and Contract Liabilities (Details) $ in Thousands	6 Months Ended
Jun. 30, 2021 USD ($)	Dec. 31, 2020 USD ($)
Revenue from Contract with Customer [Abstract]
Contract assets
Change in Contract Asset
Percent Change in Contract Asset
Contract liabilities	$ (6,540)	(7,765)
Change in Contract Liability	$ 1,225
Percent Change in Contract Liability	(1,580)
Net contract assets (liabilities)	$ (6,540)	$ (7,765)
Change in Net Contract Assets (Liabilities)	$ 1,225
Percent Change in Net Contract Assets (Liabilities)	(1,580)

Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as current.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 45
-Paragraph 1
-URI http://asc.fasb.org/extlink&oid=123360276&loc=SL49130531-203044

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 45
-Paragraph 3
-URI http://asc.fasb.org/extlink&oid=123360276&loc=SL49130533-203044

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 8
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=123351226&loc=SL49130549-203045

Name:	us-gaap_ContractWithCustomerAssetNetCurrent
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant