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Revenue from Contract with Customers - Contract Liabilities (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Revenue from Contract with Customer      
Contract liability with customer $ 4,400 $ 4,600  
Deferred revenue 10,217 12,732 $ 36,578
Deferred revenue recognized in earnings $ 10,382 $ 19,489 $ 42,268