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Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended
Jun. 30, 2018
Mar. 31, 2018
Contract Assets and Liabilities    
Contract asset, current $ 1,434 $ 1,309
Change in contract asset - current $ 125  
% of change in contract asset - current 10.00%  
Contract asset, noncurrent $ 568 498
Change in contract Asset – noncurrent $ 70  
% of change in contract Asset – noncurrent 14.00%  
Contract liabilities $ (9,552) (9,827)
Change in contract liabilities $ 275  
% of change in contract liabilities (3.00%)  
Net contract liability $ (7,550) $ (8,020)
Change in net contract liability $ 470  
% of change in net contract liability (6.00%)  
Revenue recognized related to contract liability $ 8,500  
Amortization of contract assets 500  
Revenue recognized in the period related to performance obligations that were satisfied or partially satisfied in previous periods $ 600