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Revenue Recognition - Revenue (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Revenue Recognition |  |
Amounts included in the beginning of period contract liability balance | $ 4,000 | $ 1,202
Amounts associated with performance obligations satisfied in previous periods | $ 25 | $ 5

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- Definition Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 8 -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=126920106&loc=SL49130549-203045 + Details
Name: | us-gaap_ContractWithCustomerLiabilityRevenueRecognized
Namespace Prefix: | us-gaap_
Data Type: | xbrli:monetaryItemType
Balance Type: | credit
Period Type: | duration

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- Definition Amount of revenue recognized from performance obligation satisfied or partially satisfied in previous reporting periods. Includes, but is not limited to, change in transaction price. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 12A -URI https://asc.fasb.org/extlink&oid=126920106&loc=SL108322424-203045 + Details
Name: | us-gaap_ContractWithCustomerPerformanceObligationSatisfiedInPreviousPeriod
Namespace Prefix: | us-gaap_
Data Type: | xbrli:monetaryItemType
Balance Type: | credit
Period Type: | duration

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- References No definition available. + Details
Name: | us-gaap_RevenueFromContractWithCustomerAbstract
Namespace Prefix: | us-gaap_
Data Type: | xbrli:stringItemType
Balance Type: | na
Period Type: | duration