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Revenue Recognition - Schedule of Customer Contract Liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Customer Contract Liabilities      
Beginning balance $ 59,422 $ 57,546 $ 54,019
Quarterly additions 26,792 28,734 21,252
Revenue recognized from the prior periods (16,145) (16,250) (12,142)
Revenue recognized from current quarter additions (10,022) (10,608) (5,583)
Ending balance $ 60,047 $ 59,422 $ 57,546