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Revenue (Tables)
6 Months Ended
Jun. 30, 2023
Revenue from Contract with Customer [Abstract]  
Schedule of Changes in Contract Assets and Contract Liabilities
The following table reflects the changes in our contract assets and contract liabilities balances for the six months ended June 30, 2023 (in thousands):
June 30, 2023December 31, 2022Decrease
$%
Accrued revenue$820 $665 
Costs and estimated profits in excess of billings12,592 15,139 
Contract assets - current13,412 15,804 
Contract assets - noncurrent2,106 2,638 
Contract assets$15,518 $18,442 $(2,924)(16)%
Deferred revenue$11,548 $14,401 
Billings in excess of costs and profits recognized2,913 305 
Contract liabilities$14,461 $14,706 $(245)(2)%