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Revenue Recognition Revenue Recognition - Contract Balances (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Contract with Customer, Asset and Liability, Rollforward [Roll Forward]    
Balance at beginning of period $ 185 $ 93
Cash received, excluding amounts recognized as revenue 153 185
Amounts recognized as revenue (117) (93)
Balance at end of period $ 221 $ 185