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Deferred Revenue - Summary of Deferred Service Contract Revenue (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Change in Contract with Customer, Liability [Roll Forward]    
Beginning balance $ 11,916 $ 13,498
Add: Payments received from current period sales 3,850 6,045
Less: Revenue recognized from current period sales (572) (615)
Less: Revenue recognized from beginning balance (4,739) (5,229)
Ending balance $ 10,455 $ 13,699