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Revenue (Tables)
3 Months Ended
Mar. 31, 2022
Revenue from Contract with Customer [Abstract]  
Schedule of Deferred Revenue
The deferred revenue balances from contracts with customers were as follows:
Three Months Ended March 31,
(in thousands)20222021
Deferred revenue, beginning of the period$1,212 $1,105 
Deferred revenue, end of the period1,068 1,111 
Change in deferred revenue during the period(144)