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Contract Liability - Opening and Closing Balances of Company's Contract Liability (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Contract with Customer, Liability [Abstract]        
Balance at December 31, 2021     $ 18,151  
Payments received     13,410  
Revenue recognized $ (6,400) $ (4,800) (16,493) $ (8,200)
Balance at September 30, 2022 $ 15,068   $ 15,068