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Revenue Recognition - Revenue Recognized During Period (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Amounts included in contract liabilities at the beginning of the period:        
Performance obligations satisfied $ 889 $ 658 $ 1,694 $ 1,997
Changes in the period:        
Changes in the estimated transaction price allocated to performance obligations satisfied in prior periods 495 1,521 365 5,848
Performance obligations satisfied from new activities in the period - contract revenue 33,086 34,590 106,156 72,408
Total revenues $ 34,470 $ 36,769 $ 108,215 $ 80,253