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Revenue - Contract Liabilities (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction |  |  |
Deferred revenue | $ 40,092 | $ 36,614 | $ 29,745
Deferred revenue on consolidated balance sheet | $ 24,700 | $ 19,700 |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-01-01 |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction |  |  |
Revenue recognized over remaining contract term | 1 year |  |
Remaining unearned revenue | $ 18,300 |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01 |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction |  |  |
Revenue recognized over remaining contract term |  |  |
Remaining unearned revenue | $ 21,800 |  |

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