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Revenue Recognition and Contract Costs - Contract Balances (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020
Revenue from Contract with Customer [Abstract] |  |
Contract assets—current | $ 5,359,000 | $ 7,079,000
Contract liabilities—current | (8,068,000) | (13,622,000)
Contract assets - noncurrent | 0 | 0
Contract liabilities - noncurrent | 0 | 0
Revenue from performance obligations satisfied in previous periods | $ 11,900,000 | $ 11,400,000

X
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