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Revenue from Contracts with Customers - Amortized and Capitalized Costs (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Capitalized Contract Cost [Roll Forward]    
Beginning Balance $ 8,147 $ 7,358
Commission payments 3,355 3,229
Contract asset amortization (2,856) (2,440)
Ending Balance $ 8,646 $ 8,147