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Revenue Recognition - Narrative (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2022
Disaggregation of Revenue [Line Items] |  |  |  |  |
Current portion of contract assets | $ 4,732 |  | $ 4,732 |  | $ 2,852
Contract assets, noncurrent | 690 |  | 690 |  | 1,386
Revenue recognized from prior year deferred revenue balance | 5,300 | $ 2,200 | 12,140 | $ 4,700 |
Lease revenue (less than) | 8,015 | 4,067 | 14,534 | 8,226 |
Deferred asset related to commissions | 10,300 |  | 10,300 |  | $ 9,000
Amortized commissions | 1,500 | 900 | 3,100 | 1,200 |
Related Party |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Lease revenue (less than) | $ 100 | $ 200 | $ 200 | $ 300 |

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