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Revenue from Contracts with Customers - Significant Changes in Contract Liabilities Balance (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Revenue from Contract with Customer [Abstract]        
Revenue recognized included in beginning of period balance $ (2,678) $ (1,734) $ (5,303) $ (4,128)
Cash received, excluding amounts recognized as revenue during the period $ 2,590 $ 1,949 $ 4,690 $ 4,792