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Revenue from Contracts with Customers - Contract Liabilities (Details) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2023
Revenue from Contracts with Customers      
Contract liability $ 7,900   $ 7,000
Deferred revenue 10,598 $ 10,733  
Deferred revenue recognized in earnings $ 9,707 $ 11,043