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Revenue from Contracts with Customers - Contract Liabilities (Details) - USD ($) $ in Thousands | 3 Months Ended |
--- | --- | ---
Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023
Revenue from Contracts with Customers |  |  |
Contract liability | $ 7,200 |  | $ 7,000
Deferred revenue | 3,070 | $ 3,179 |
Deferred revenue recognized in earnings | $ 2,859 | $ 4,476 |

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- Definition Total revenue recognized from both the beginning balance and current period increase in contract liability + References No definition available. + Details
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Data Type: | xbrli:monetaryItemType
Balance Type: | credit
Period Type: | duration

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- Definition Amount of increase (decrease) in obligation to transfer good or service to customer for which consideration has been received or is receivable excluding revenue recognized from both the beginning balance and current period increase in contract liability. + References No definition available. + Details
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- Definition Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 1 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479837/606-10-45-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-8 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479837/606-10-45-2 + Details
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Balance Type: | credit
Period Type: | instant

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- References No definition available. + Details
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