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Revenue from Contracts with Customers (Tables)
12 Months Ended
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]  
Amortized and Capitalized Contract Cost
The following tables present the activity of current and non-current contract assets:
(in thousands)20232022
Beginning Balance$8,646 $8,147 
Commission payments3,138 3,355 
Contract asset amortization(3,151)(2,856)
Ending Balance$8,633 $8,646