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Revenue from Contracts with Customers (Tables)
 9 Months Ended
Sep. 30, 2019
Revenue from Contract with Customer [Abstract]  
Schedule of Contract Assets and Contract Liabilities
The changes in our contract liabilities are as follows (in thousands):
    
 
Three Months Ended 
 September 30,
 
Nine Months Ended 
 September 30,
 
2019
 
2018
 
2019
 
2018
Beginning of period balance
$
10,980

 
$
11,971

 
$
11,176

 
$
12,678

Revenue deferred in period
542

 
1,225

 
3,013

 
2,706

Revenue recognized from amounts included in contract liabilities
(1,499
)
 
(1,322
)
 
(4,166
)
 
(3,510
)
End of period balance
$
10,023

 
$
11,874

 
$
10,023

 
$
11,874


The changes in our contract assets are as follows (in thousands):    
 
Three Months Ended 
 September 30,
 
Nine Months Ended 
 September 30,
 
2019
 
2018
 
2019
 
2018
Beginning of period balance
$
3,849

 
$
2,879

 
$
2,881

 
$
—

Commission costs and upfront payments to a customer capitalized in period
333

 
489

 
2,438

 
4,344

Amortization of contract assets
(613
)
 
(490
)
 
(1,750
)
 
(1,466
)
End of period balance
$
3,569

 
$
2,878

 
$
3,569

 
$
2,878