Annual report pursuant to Section 13 and 15(d)

Revenues - Narrative (Details)

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Revenues - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Jan. 01, 2018
Disaggregation of Revenue [Line Items]      
Deferred revenue related to shortfall payments $ 7,244,000 $ 4,304,000 $ 15,000,000
Recognized revenue 4,827,000 15,000,000  
Contract assets 0 0 $ 0
Shortfall Payments      
Disaggregation of Revenue [Line Items]      
Deferred revenue related to shortfall payments 7,200,000 4,200,000  
Recognized revenue $ 2,800,000 $ 1,500,000