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Revenue from Contracts with Customers - Contract Liabilities (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Revenue from Contracts with Customers      
Contract liability $ 6,400   $ 8,000
Deferred revenue 7,106 $ 14,032  
Deferred revenue recognized in earnings $ 8,754 $ 11,541