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Revenue Recognition - Contract Balances from Contracts with Customers (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2018
Jun. 30, 2018
Revenue recognized in the period from:    
Amounts included in the contract liability at the beginning of the period $ 1,532 $ 4,517
Performance obligations satisfied in previous periods $ 3,253 $ 5,392