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Deferred Revenue - Summary of Deferred Service Contract Revenue (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Change in Contract with Customer, Liability [Roll Forward]    
Beginning balance $ 10,825 $ 11,237
Add: Payments received 4,864 4,929
Less: Revenue (458) (445)
Less: Revenue recognized from beginning balance (4,167) (3,984)
Ending balance $ 11,064 $ 11,737