Quarterly report pursuant to Section 13 or 15(d)

Summary of Significant Accounting Policies - Contract balances from contracts with customers (Details)

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Summary of Significant Accounting Policies - Contract balances from contracts with customers (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2021
Dec. 31, 2020
Summary of Significant Accounting Policies      
Contract assets $ 900 $ 900 $ 0
Long-term contract assets 2,582 2,582 $ 0
Recognition of revenue that was previously included in the deferred revenue balance 500 (2,300)  
Rollforward of deferred revenue      
Balance at the beginning   4,197  
Revenue recognized 500 (6,356)  
Revenue deferred   8,815  
Balance at the end $ 6,656 $ 6,656