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Revenue from Contracts with Customers - Allowance for Credit Losses (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Changes in the allowance for credit losses balance    
Balance at beginning of period $ 1,674  
Benefit from credit losses (140) $ 365
Write-offs charged against the allowance (440)  
Balance at end of period $ 1,094