Nature of Business and Significant Accounting Policies - Contract Liabilities and Deferred Revenue (Details) - USD ($) $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2021 |
Dec. 31, 2020 |
Dec. 31, 2019 |
|
| Disaggregation of Revenue [Line Items] | |||
| Amortization of contract liabilities | $ 5,616 | $ 5,678 | $ 5,749 |
| Deferred revenue | 11,655 | 9,907 | |
| Cost of revenues | |||
| Disaggregation of Revenue [Line Items] | |||
| Amortization of contract liabilities | 1,700 | ||
| General and administrative | |||
| Disaggregation of Revenue [Line Items] | |||
| Amortization of contract liabilities | 3,900 | 4,100 | |
| Contract liabilities | |||
| Disaggregation of Revenue [Line Items] | |||
| Amortization of contract liabilities | 5,600 | 5,700 | |
| Deferred revenue | $ 15,500 | $ 6,800 | $ 6,800 |