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Revenue from Contracts with Customers
 3 Months Ended
Mar. 31, 2023
Revenue from Contract with Customer [Abstract]  
Revenue from Contracts with Customers Revenue from Contracts with Customers
Contract Assets

The changes in our contract assets are as follows (in thousands):
Three Months Ended
March 31,
20232022
Beginning of period balance$13,975 $4,520 
Commission costs and upfront payments to a customer capitalized in period1,673 806 
Amortization of contract assets(1,769)(846)
End of period balance$13,879 $4,480 

Contract Liabilities

The changes in our contract liabilities are as follows (in thousands):
Three Months Ended
March 31,
20232022
Beginning of period balance$18,332 $14,837 
Revenue deferred in period5,940 3,990 
Revenue recognized from amounts included in contract liabilities(4,041)(3,208)
End of period balance$20,231 $15,619