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Revenue from Contracts with Customers - Amortized and Capitalized Costs (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Capitalized Contract Cost [Roll Forward]    
Beginning Balance $ 8,633 $ 8,646
Commission payments 851 891
Contract asset amortization (717) (781)
Ending Balance $ 8,767 $ 8,756