Quarterly report pursuant to Section 13 or 15(d)

Summary of Significant Accounting Policies - Contract Balances (Details)

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Summary of Significant Accounting Policies - Contract Balances (Details) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Accounting Policies [Abstract]    
Net Receivables, Opening balance $ 17,618 $ 16,944
Net Receivables, Closing balance 18,567 18,758
Increase/(decrease) 949 1,814
Contract Liabilities, Current, Opening balance 14 14
Contract Liabilities, Current, Closing balance 14 14
Increase/(decrease) 0 0
Contract Liabilities, Long-Term, Opening balance 3 15
Contract Liabilities, Long-Term, Closing balance 0 6
Increase/(decrease) $ (3) $ (9)