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Revenue from Contracts with Customers - Amortized and Capitalized Costs (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Capitalized Contract Cost [Roll Forward]    
Beginning Balance $ 8,646 $ 8,147
Commission payments 3,138 3,355
Contract asset amortization (3,151) (2,856)
Ending Balance $ 8,633 $ 8,646