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Revenue from Contracts with Customers - Significant Changes in Contract Liabilities Balance (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Revenue from Contract with Customer [Abstract]    
Revenue recognized included in beginning of period balance $ (3,224) $ (2,780)
Cash received, excluding amounts recognized as revenue during the period $ 2,963 $ 2,255