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Revenue from Contracts with Customers (Tables)
6 Months Ended
Jun. 30, 2024
Revenue from Contract with Customer [Abstract]  
Schedule of Contract Assets and Contract Liabilities
The changes in our contract assets are as follows (in thousands):
Three Months Ended
June 30,
Six Months Ended
June 30,
2024202320242023
Beginning of period balance$10,466 $13,879 $9,099 $13,975 
Commission costs and upfront payments to a customer capitalized in period2,235 1,547 5,347 3,220 
Amortization of contract assets(1,796)(1,845)(3,541)(3,614)
End of period balance$10,905 $13,581 $10,905 $13,581 
The changes in our contract liabilities are as follows (in thousands):
Three Months Ended
June 30,
Six Months Ended
June 30,
2024202320242023
Beginning of period balance$24,212 $20,231 $22,885 $18,332 
Revenue deferred in period7,549 5,719 13,973 11,659 
Revenue recognized from amounts included in contract liabilities(5,854)(4,490)(10,951)(8,531)
End of period balance$25,907 $21,460 $25,907 $21,460