Summary of Significant Accounting Policies (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Revenue	$ 61,913	$ 56,915	$ 59,930	$ 63,989	$ 59,947	$ 57,399	$ 58,297	$ 48,384	$ 242,747	$ 224,027	$ 231,201
Minimum
License agreement, term of agreement									1 year
Long-duration contracts, assumptions by product and guarantee, discount rate	3.00%								3.00%
Maximum
License agreement, term of agreement									10 years
Long-duration contracts, assumptions by product and guarantee, discount rate	5.00%								5.00%
Percentage of completion
Revenue									$ 19,800