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Revenue Recognition - Revenue Recognized During Period (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Amounts included in contract liabilities at the beginning of the period: |  |  |  |
Performance obligations satisfied | $ 1,303 | $ 889 | $ 9,111 | $ 1,694
Changes in the period: |  |  |  |
Changes in the estimated transaction price allocated to performance obligations satisfied in prior periods | 1,018 | 495 | 4,238 | 365
Performance obligations satisfied from new activities in the period - contract revenue | 6,956 | 33,086 | 30,233 | 106,156
Total revenues | $ 9,277 | $ 34,470 | $ 43,582 | $ 108,215

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- Definition Amount of revenue recognized arising from contract liability from change in timeframe for performance obligation to be satisfied. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 10 -Subparagraph (e) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-10 + Details
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- Definition Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in estimate of transaction price which (increases) decreases obligation to transfer good or service to customer for which consideration from customer has been received or is due. Includes, but is not limited to, change in assessment of whether estimate of variable consideration is constrained. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 10 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-10 + Details
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- Definition Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-8 + Details
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