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Revenue from Contracts with Customers - Amortized and Capitalized Costs (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Capitalized Contract Cost [Roll Forward]        
Beginning Balance $ 8,767 $ 8,756 $ 8,633 $ 8,646
Commission payments 1,564 793 2,415 1,684
Contract asset amortization (986) (807) (1,703) (1,588)
Ending Balance $ 9,345 $ 8,742 $ 9,345 $ 8,742