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Revenues - Schedule Contract Liabilities (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Change In Contract With Customer, Liability [Roll Forward]    
Balance at beginning of period $ 7,533 $ 10,722
Increase 10,936 9,547
Recognized as revenue (11,666) (10,986)
Balance at end of period $ 6,803 $ 9,283