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Revenue Recognition - Schedule of Customer Contract Liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Customer Contract Liabilities      
Beginning balance $ 52,288 $ 54,177 $ 51,369
Quarterly additions 19,444 19,501 19,303
Revenue recognized from the prior periods 12,404 (13,605) (12,603)
Revenue recognized from current quarter additions 4,748 (4,639) (4,551)
Deferred revenue from acquisition     659
Other adjustments   (3,146)  
Ending balance $ 54,580 $ 52,288 $ 54,177